Flexible Autos

[aridavidson001]

Create a configurable autonomous where we can choose where on the reef we score

• Create short choreo trajectories for each node on the reef to and from the pickup stations

• Create some start trajectores that have different starting positions

• Consistent naming conventions

  • Pickups and starting positions are from the driverstation's perspective
  • FIRST has a naming system for the reef already
    
  • Example Trajectory Names:
    • Left-Start-To-J
    • Right-Start-To-E
    • Left-Pickup-to-A
    • A-to-Left-Pickup

• Use variables for the poses within choreo so we can edit them easily

• Avoid the pre-staged algae(use keep-out circles)

• There are two feeder stations(only use one for each side but maybe create paths for both for nodes A, B, G, & H)

• Create intake and score commands to sequence in the auto

  • These can be bound by triggers to the end of a(or many different) trajectories

• Only L4? Or do we want to deal with Algae?

• Create an autonomous that gets a list of coral to score from smartdashboard or elastic and combines them in the code to form an auto

• Figure out a way to integrate pose estimation/DriveCommandBase into autos

[JacksonElia]

Do you want to work on this in #55?

[Ishan1522]

he can just merge his current branch into that one

*if he wants

[JacksonElia]

Only L4? Or do we want to deal with Algae?

Assume only L4 for now I would say

[Ishan1522]

Only L4? Or do we want to deal with Algae?

Assume only L4 for now I would say

Yeah the plan is to build an algae end effector buuuuuuut will that happen? Idk

[aridavidson001]

I'm also going to need to look at if choreo's AutoChooser is the right thing to use if we're doing these...

The AutoChooser (Java) class allows you to send a list of your autonomous routines to a driver dashboard for selection before a match. It is meant to be a more efficient alternative to SendableChooser, taking a lazy loading approach to generating command compositions or an AutoRoutine. This approach has the benefit of not loading all autos on startup, but also not loading the auto after the match starts, which may cause a delay when using many or large trajectories.