Doc Expansion

choreolib/src/main/java/choreo/Choreo.java

@@ -92,7 +92,7 @@ public static ProjectFile getProjectFile() {
     } catch (FileNotFoundException ex) {
       throw new RuntimeException("Could not find project file", ex);
     } catch (IOException ex) {
-      throw new RuntimeException("Could not find project file", ex);
+      throw new RuntimeException("Could not close the project file", ex);
     }
     return LAZY_PROJECT_FILE.get();
   }

choreolib/src/main/java/choreo/auto/AutoChooser.java

@@ -13,13 +13,16 @@
 import java.util.function.Function;
 
 /**
- * An auto chooser that allows for the selection of auto routines at runtime.
+ * An Choreo specific {@code SendableChooser} that allows for the selection of {@link AutoRoutine}s
+ * at runtime via a 
+ * <a href="https://docs.wpilib.org/en/stable/docs/software/dashboards/index.html#dashboards">Dashboard</a>.
  *
- * <p>This chooser takes a lazy loading approach to auto routines, only generating the auto routine
- * when it is selected. This approach has the benefit of not loading all autos on startup, but also
- * not loading the auto during auto start causing a delay.
+ * <p>This chooser takes a <a href="https://en.wikipedia.org/wiki/Lazy_loading">lazy loading</a>
+ * approach to {@link AutoRoutine}s, only generating the {@link AutoRoutine} when it is
+ * selected. This approach has the benefit of not loading all autos on startup, but also not loading
+ * the auto during auto start causing a delay.
  *
- * <p>Once the {@link AutoChooser} is made you can add auto routines to it using the {@link
+ * <p>Once the {@link AutoChooser} is made you can add {@link AutoRoutine}s to it using the {@link
  * #addAutoRoutine(String, AutoRoutineGenerator)} method. Unlike {@code SendableChooser} this
  * chooser has to be updated every cycle by calling the {@link #update()} method in your {@link
  * IterativeRobotBase#robotPeriodic()}.
@@ -48,15 +51,16 @@ public static interface AutoRoutineGenerator extends Function<AutoFactory, AutoR
   private AutoRoutine lastAutoRoutine = AutoRoutineGenerator.NONE.apply(null);
 
   /**
-   * Create a new auto chooser.
+   * Constructs a new {@link AutoChooser}.
    *
    * @param factory The auto factory to use for auto routine generation.
    * @param tableName The name of the network table to use for the chooser, passing in an empty
-   *     string will put this chooser at the root of the network tables.
+   *     string or null will put this chooser at the root of the network tables.
    */
   public AutoChooser(AutoFactory factory, String tableName) {
     this.factory = factory;
 
+    if (tableName == null) tableName = "";
     String path = NetworkTable.normalizeKey(tableName, true) + "/AutoChooser";
     NetworkTable table = NetworkTableInstance.getDefault().getTable(path);
 
@@ -73,9 +77,13 @@ public AutoChooser(AutoFactory factory, String tableName) {
    *
    * <p>This method should be called every cycle in the {@link IterativeRobotBase#robotPeriodic()}.
    * It will check if the selected auto routine has changed and update the active auto routine.
+   *
+   * <p>The auto routine can only be updated when the robot is disabled. If the chooser in your
+   * dashboard says {@code BAD} the {@link AutoChooser} has not responded to the selection yet and
+   * you need to disable the robot to update it.
    */
   public void update() {
-    if (DriverStation.isDisabled() || IterativeRobotBase.isSimulation()) {
+    if (DriverStation.isDisabled()) {
       String selectStr = selected.get();
       if (selectStr.equals(lastAutoRoutineName)) return;
       if (!autoRoutines.containsKey(selectStr)) {
@@ -92,12 +100,29 @@ public void update() {
   /**
    * Add an auto routine to the chooser.
    *
-   * <p>An auto routine is a function that takes an AutoFactory and returns a Command. These
-   * functions can be static, a lambda or belong to a local variable.
+   * <p>An auto routine is a function that takes an {@link AutoFactory} and returns a {@link
+   * AutoRoutine}. These functions can be static, a lambda or belong to a local variable.
+   *
+   * <p>A good paradigm is making an `Autos` class that all of your subsystems/resources are
+   * <a href="https://en.wikipedia.org/wiki/Dependency_injection">dependency injected</a> into.
+   * Then you crate methods inside that class that take an {@link AutoFactory} and return a {@link
+   * AutoRoutine}. You can also have the `Autos` class extend an `AutoHelpers` class that has helper
+   * methods that don't clutter your routines.
+   *
+   * <h3>Example:</h3>
+   *
+   * <pre><code>
+   * AutoChooser chooser;
    *
-   * <p>A good paradigm is making an `AutoRoutines` class that has a reference to all your
-   * subsystems and has helper methods for auto commands inside it. Then you crate methods inside
-   * that class that take an `AutoFactory` and return a `Command`.
+   * Robot() {
+   *   chooser = new AutoChooser(Choreo.createAutoFactory(...), "/Choosers");
+   *   Autos autos = new Autos(swerve, shooter, intake, feeder);
+   *   chooser.addAutoRoutine("4 Piece right", autos::fourPieceRight);
+   *   chooser.addAutoRoutine("4 Piece Left", autos::fourPieceLeft);
+   *   chooser.addAutoRoutine("3 Piece Close", autos::threePieceClose);
+   *   chooser.addAutoRoutine("Just Shoot", factory -> factory.commandAsAutoRoutine(shooter.shoot()));
+   * }
+   * </code></pre>
    *
    * @param name The name of the auto routine.
    * @param generator The function that generates the auto routine.
@@ -108,9 +133,40 @@ public void addAutoRoutine(String name, AutoRoutineGenerator generator) {
   }
 
   /**
-   * Get the currently selected auto routine.
+   * Get the currently selected {@link AutoRoutine}.
+   *
+   * <h3>Recommended Usage</h3>
+   *
+   * Scheduling it as a command.
+   *
+   * <pre><code>
+   * AutoChooser chooser = ...;
+   *
+   * public void autonomousInit() {
+   *   CommandScheduler.getInstance().schedule(chooser.getSelectedAutoRoutine().cmd());
+   * }
+   * </code></pre>
+   *
+   * Polling it yourself.
+   *
+   * <pre><code>
+   * AutoChooser chooser = ...;
+   * AutoRoutine routine = chooser.getSelectedAutoRoutine();
+   *
+   * public void autonomousInit() {
+   *   routine = chooser.getSelectedAutoRoutine();
+   * }
+   *
+   * public void autonomousPeriodic() {
+   *  routine.poll();
+   * }
+   *
+   * public void autonomousExit() {
+   *   routine.reset();
+   * }
+   * </code></pre>
    *
-   * @return The currently selected auto routine.
+   * @return The currently selected {@link AutoRoutine}.
    */
   public AutoRoutine getSelectedAutoRoutine() {
     return lastAutoRoutine;

choreolib/src/main/java/choreo/auto/AutoFactory.java

@@ -24,43 +24,10 @@
 import java.util.function.Supplier;
 
 /**
- * A factory used to create autonomous routines.
+ * A factory used to create {@link AutoRoutine}s and {@link AutoTrajectory}s.
  *
- * <p>Here is an example of how to use this class to create an auto routine:
- *
- * <h2>Example using <code>Trigger</code>s</h2>
- *
- * <pre><code>
- * public AutoRoutine shootThenMove(AutoFactory factory) {
- *   // Create a new auto routine to return
- *   var routine = factory.newRoutine();
- *
- *   // Create a trajectory that moves the robot 2 meters
- *   AutoTrajectory trajectory = factory.trajectory("move2meters", routine);
- *
- *   // Will automatically run the shoot command when the auto routine is first polled
- *   routine.enabled().onTrue(shooter.shoot());
- *
- *   // Gets a trigger from the shooter to if the shooter has a note, and will run the trajectory
- *   // command when the shooter does not have a note
- *   routine.enabled().and(shooter.hasNote()).onFalse(trajectory.cmd());
- *
- *   return routine;
- * }
- * </code></pre>
- *
- * <h2>Example using <code>CommandGroup</code>s</h2>
- *
- * <pre><code>
- * public Command shootThenMove(AutoFactory factory) {
- *   // Create a trajectory that moves the robot 2 meters
- *   Command trajectory = factory.trajectoryCommand("move2meters");
- *
- *   return shooter.shoot()
- *      .andThen(trajectory)
- *      .withName("ShootThenMove");
- * }
- * </code></pre>
+ * @see <a href="https://sleipnirgroup.github.io/Choreo/choreolib/auto-routines">Auto Routine
+ *     Docs</a>
  */
 public class AutoFactory {
   static final AutoRoutine VOID_ROUTINE =
@@ -83,6 +50,11 @@ public void poll() {}
         @Override
         public void reset() {}
 
+        @Override
+        public boolean isMostRecentTrajectory(AutoTrajectory trajectory) {
+          return false;
+        }
+
         @Override
         public Trigger enabled() {
           return new Trigger(loop, () -> false);
@@ -166,7 +138,6 @@ public <SampleType extends TrajectorySample<SampleType>> AutoFactory(
    *
    * @param name The name of the {@link AutoRoutine}.
    * @return A new {@link AutoRoutine}.
-   * @see AutoRoutine
    * @see #voidRoutine
    */
   public AutoRoutine newRoutine(String name) {
@@ -190,11 +161,11 @@ public AutoRoutine voidRoutine() {
   }
 
   /**
-   * Creates a new auto trajectory to be used in an auto routine.
+   * Creates a new {@link AutoTrajectory} to be used in an auto routine.
    *
    * @param trajectoryName The name of the trajectory to use.
    * @param routine The {@link AutoRoutine} to register this trajectory under.
-   * @return A new auto trajectory.
+   * @return A new {@link AutoTrajectory}.
    */
   public AutoTrajectory trajectory(String trajectoryName, AutoRoutine routine) {
     Optional<? extends Trajectory<?>> optTrajectory =
@@ -210,12 +181,12 @@ public AutoTrajectory trajectory(String trajectoryName, AutoRoutine routine) {
   }
 
   /**
-   * Creates a new auto trajectory to be used in an auto routine.
+   * Creates a new {@link AutoTrajectory} to be used in an auto routine.
    *
    * @param trajectoryName The name of the trajectory to use.
    * @param splitIndex The index of the split trajectory to use.
    * @param routine The {@link AutoRoutine} to register this trajectory under.
-   * @return A new auto trajectory.
+   * @return A new {@link AutoTrajectory}.
    */
   public AutoTrajectory trajectory(
       String trajectoryName, final int splitIndex, AutoRoutine routine) {
@@ -232,12 +203,12 @@ public AutoTrajectory trajectory(
   }
 
   /**
-   * Creates a new auto trajectory to be used in an auto routine.
+   * Creates a new {@link AutoTrajectory} to be used in an auto routine.
    *
    * @param <SampleType> The type of the trajectory samples.
    * @param trajectory The trajectory to use.
    * @param routine The {@link AutoRoutine} to register this trajectory under.
-   * @return A new auto trajectory.
+   * @return A new {@link AutoTrajectory}.
    */
   @SuppressWarnings("unchecked")
   public <SampleType extends TrajectorySample<SampleType>> AutoTrajectory trajectory(
@@ -261,7 +232,7 @@ public <SampleType extends TrajectorySample<SampleType>> AutoTrajectory trajecto
   }
 
   /**
-   * Creates a new auto trajectory command to be used in an auto routine.
+   * Creates a new {@link AutoTrajectory} command to be used in an auto routine.
    *
    * <p><b>Important </b>
    *
@@ -272,14 +243,14 @@ public <SampleType extends TrajectorySample<SampleType>> AutoTrajectory trajecto
    * AutoBindings} passed into the factory constructor.
    *
    * @param trajectoryName The name of the trajectory to use.
-   * @return A new auto trajectory.
+   * @return A new {@link AutoTrajectory}.
    */
   public Command trajectoryCommand(String trajectoryName) {
     return trajectory(trajectoryName, VOID_ROUTINE).cmd();
   }
 
   /**
-   * Creates a new auto trajectory command to be used in an auto routine.
+   * Creates a new {@link AutoTrajectory} command to be used in an auto routine.
    *
    * <p><b>Important </b>
    *
@@ -291,14 +262,14 @@ public Command trajectoryCommand(String trajectoryName) {
    *
    * @param trajectoryName The name of the trajectory to use.
    * @param splitIndex The index of the split trajectory to use.
-   * @return A new auto trajectory.
+   * @return A new {@link AutoTrajectory}.
    */
   public Command trajectoryCommand(String trajectoryName, final int splitIndex) {
     return trajectory(trajectoryName, splitIndex, VOID_ROUTINE).cmd();
   }
 
   /**
-   * Creates a new auto trajectory command to be used in an auto routine.
+   * Creates a new {@link AutoTrajectory} command to be used in an auto routine.
    *
    * <p><b>Important </b>
    *
@@ -310,7 +281,7 @@ public Command trajectoryCommand(String trajectoryName, final int splitIndex) {
    *
    * @param <SampleType> The type of the trajectory samples.
    * @param trajectory The trajectory to use.
-   * @return A new auto trajectory.
+   * @return A new {@link AutoTrajectory}.
    */
   public <SampleType extends TrajectorySample<SampleType>> Command trajectoryCommand(
       Trajectory<SampleType> trajectory) {

choreolib/src/main/java/choreo/auto/AutoRoutine.java

@@ -108,6 +108,18 @@ public void kill() {
     isKilled = true;
   }
 
+  /**
+   * Returns if the the given trajectory is the most recently run trajectory.
+   *
+   * <p>This will return true if the given trajectory is currently running aswell.
+   *
+   * @param trajectory The trajectory to check
+   * @return If the given trajectory is the most recently run trajectory
+   */
+  public boolean isMostRecentTrajectory(AutoTrajectory trajectory) {
+    return recentTrajectory.equals(trajectory);
+  }
+
   /**
    * Creates a command that will poll this event loop and reset it when it is cancelled.
    *