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package org.curtinfrc.frc2025;
import static edu.wpi.first.wpilibj2.command.Commands.*;
import choreo.auto.AutoFactory;
import choreo.auto.AutoRoutine;
import choreo.util.ChoreoAllianceFlipUtil;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.DriverStation.Alliance;
import edu.wpi.first.wpilibj2.command.Command.InterruptionBehavior;
import org.curtinfrc.frc2025.subsystems.drive.Drive;
import org.curtinfrc.frc2025.subsystems.drive.DriveConstants.DriveSetpoints;
import org.curtinfrc.frc2025.subsystems.ejector.Ejector;
import org.curtinfrc.frc2025.subsystems.elevator.Elevator;
import org.curtinfrc.frc2025.subsystems.elevator.Elevator.ElevatorSetpoints;
import org.curtinfrc.frc2025.subsystems.intake.Intake;
public class Autos {
private Autos() {}
public static AutoRoutine path(String name, AutoFactory factory, Drive drive) {
var routine = factory.newRoutine("follow" + name);
var trajectory = routine.trajectory(name);
routine.active().onTrue(trajectory.cmd());
trajectory
.done()
.onTrue(drive.autoAlign(() -> trajectory.getFinalPose().get()).until(drive.atSetpoint));
return routine;
}
public static AutoRoutine onePieceCentre(
AutoFactory factory, Drive drive, Ejector ejector, Elevator elevator, Intake intake) {
var routine = factory.newRoutine("onePieceCentre");
var trajectory = routine.trajectory("onePieceCentre");
routine
.active()
.onTrue(
sequence(
waitSeconds(1),
parallel(
drive.autoAlign(() -> DriveSetpoints.G.getPose()),
elevator.goToSetpoint(ElevatorSetpoints.L3, () -> true))
.until(elevator.atSetpoint.and(drive.atSetpoint)),
parallel(
drive.autoAlign(() -> DriveSetpoints.G.getPose()),
elevator.goToSetpoint(ElevatorSetpoints.L3, () -> true),
ejector.eject(30))
.until(ejector.backSensor.negate()),
parallel(
drive.autoAlign(() -> DriveSetpoints.FAR.getPose()),
ejector.eject(40),
elevator.goToSetpoint(
() -> ElevatorSetpoints.AlgaePopLow, intake.backSensor.negate()))
.withTimeout(2)
.withName("AlgaePop"),
drive
.autoAlign(
() -> {
if (DriverStation.getAlliance().isPresent()
&& DriverStation.getAlliance().get() == Alliance.Red) {
return ChoreoAllianceFlipUtil.flip(
new Pose2d(6.3, 3.866, Rotation2d.kPi));
} else {
return new Pose2d(6.3, 3.866, Rotation2d.kPi);
}
})
.withTimeout(1))
.withInterruptBehavior(InterruptionBehavior.kCancelIncoming));
// trajectory
// .done()
// .onTrue(
// drive
// .autoAlign(() -> trajectory.getFinalPose().get())
// .until(drive.atSetpoint)
// .andThen(
// elevator
// .goToSetpoint(ElevatorSetpoints.L3, intake.backSensor.negate())
// .until(elevator.atSetpoint)
// .andThen(
// parallel(ejector.eject(15)),
// elevator.goToSetpoint(ElevatorSetpoints.L3,
// intake.backSensor.negate()))
// .until(ejector.backSensor.negate()))
// .andThen(
// elevator
// .goToSetpoint(ElevatorSetpoints.BASE, intake.backSensor.negate())
// .until(elevator.atSetpoint))
// .andThen(
// parallel(drive.autoAlign(() -> DriveSetpoints.FAR.getPose()),
// ejector.eject(30))
// .withTimeout(1))
// .withName("autoScore")
// .withInterruptBehavior(InterruptionBehavior.kCancelIncoming));
return routine;
}
public static AutoRoutine onePieceLeft(
AutoFactory factory, Drive drive, Ejector ejector, Elevator elevator, Intake intake) {
var routine = factory.newRoutine("onePieceLeft");
var trajectory = routine.trajectory("startToI");
routine.active().onTrue(trajectory.cmd());
trajectory
.done()
.onTrue(
drive
.autoAlign(() -> trajectory.getFinalPose().get())
.until(drive.atSetpoint.and(elevator.atSetpoint))
.andThen(ejector.eject(20))
.until(ejector.backSensor.negate()));
trajectory
.atTime("RaiseElevator")
.onTrue(
elevator
.goToSetpoint(ElevatorSetpoints.L2, intake.backSensor.negate())
.until(ejector.backSensor.negate()));
return routine;
}
public static AutoRoutine twoPieceLeft(
AutoFactory factory, Drive drive, Ejector ejector, Elevator elevator, Intake intake) {
var routine = factory.newRoutine("twoPieceLeft");
var startToFirst = routine.trajectory("startToI");
var firstToHP = routine.trajectory("iToHp");
var hpToSecond = routine.trajectory("hpToL");
routine.active().onTrue(startToFirst.cmd());
startToFirst
.done()
.onTrue(
drive
.autoAlign(() -> startToFirst.getFinalPose().get())
.until(drive.atSetpoint.and(elevator.atSetpoint))
.andThen(ejector.eject(20))
.until(ejector.backSensor.negate())
.andThen(firstToHP.cmd())
.withInterruptBehavior(InterruptionBehavior.kCancelIncoming));
startToFirst
.atTime("RaiseElevator")
.onTrue(
elevator
.goToSetpoint(ElevatorSetpoints.L2, intake.backSensor.negate())
.until(ejector.backSensor.negate()));
firstToHP
.done()
.onTrue(
drive
.autoAlign(() -> firstToHP.getFinalPose().get())
.until(drive.atSetpoint)
.andThen(waitUntil(intake.frontSensor).andThen(hpToSecond.cmd()))
.withInterruptBehavior(InterruptionBehavior.kCancelIncoming));
hpToSecond
.done()
.onTrue(
drive
.autoAlign(() -> hpToSecond.getFinalPose().get())
.until(drive.atSetpoint.and(elevator.atSetpoint))
.andThen(ejector.eject(20))
.until(ejector.backSensor.negate())
.withInterruptBehavior(InterruptionBehavior.kCancelIncoming));
hpToSecond
.atTime("RaiseElevator")
.onTrue(
elevator
.goToSetpoint(ElevatorSetpoints.L3, intake.backSensor.negate())
.until(ejector.backSensor.negate()));
return routine;
}
public static AutoRoutine threePieceLeft(
AutoFactory factory, Drive drive, Ejector ejector, Elevator elevator, Intake intake) {
var routine = factory.newRoutine("twoPieceLeft");
var startToFirst = routine.trajectory("startToI");
var firstToHP = routine.trajectory("iToHp");
var hpToSecond = routine.trajectory("hpToL");
var secondToHp = routine.trajectory("lToHp");
var hpToThird = routine.trajectory("hpToK");
var kToHp = routine.trajectory("kToHp");
routine.active().onTrue(startToFirst.cmd());
startToFirst
.done()
.onTrue(
drive
.autoAlign(() -> startToFirst.getFinalPose().get())
.until(drive.atSetpoint.and(elevator.atSetpoint))
.andThen(ejector.eject(20))
.until(ejector.backSensor.negate())
.andThen(firstToHP.cmd())
.withInterruptBehavior(InterruptionBehavior.kCancelIncoming));
startToFirst
.atTime("RaiseElevator")
.onTrue(
elevator
.goToSetpoint(ElevatorSetpoints.L2, intake.backSensor.negate())
.until(ejector.backSensor.negate()));
firstToHP
.done()
.onTrue(
drive
.autoAlign(() -> firstToHP.getFinalPose().get())
.until(intake.frontSensor)
.andThen(hpToSecond.cmd())
.withInterruptBehavior(InterruptionBehavior.kCancelIncoming));
hpToSecond
.done()
.onTrue(
drive
.autoAlign(() -> hpToSecond.getFinalPose().get())
.until(drive.atSetpoint)
.andThen(ejector.eject(20))
.until(ejector.backSensor.negate())
.andThen(secondToHp.cmd())
.withInterruptBehavior(InterruptionBehavior.kCancelIncoming));
secondToHp
.done()
.onTrue(
drive
.autoAlign(() -> secondToHp.getFinalPose().get())
.until(intake.frontSensor)
.andThen(hpToThird.cmd())
.withInterruptBehavior(InterruptionBehavior.kCancelIncoming));
hpToSecond
.atTime("RaiseElevator")
.onTrue(
elevator
.goToSetpoint(ElevatorSetpoints.L3, intake.backSensor.negate())
.until(ejector.backSensor.negate()));
hpToThird
.done()
.onTrue(
sequence(
drive
.autoAlign(() -> hpToThird.getFinalPose().get())
.until(drive.atSetpoint.and(elevator.atSetpoint)),
ejector.eject(20).until(ejector.backSensor.negate()),
parallel(
drive.autoAlign(DriveSetpoints.CLOSE_LEFT::getPose),
elevator
.goToSetpoint(
ElevatorSetpoints.AlgaePopLow, intake.backSensor.negate())
.asProxy(),
ejector.eject(30))
.withTimeout(1),
kToHp.cmd())
.withInterruptBehavior(InterruptionBehavior.kCancelIncoming));
hpToThird
.atTime("RaiseElevator")
.onTrue(
elevator
.goToSetpoint(ElevatorSetpoints.L3, intake.backSensor.negate())
.until(ejector.backSensor.negate()));
return routine;
}
public static AutoRoutine fourPieceLeft(
AutoFactory factory, Drive drive, Ejector ejector, Elevator elevator, Intake intake) {
var routine = factory.newRoutine("twoPieceLeft");
var startToI = routine.trajectory("startToI");
var iToHp = routine.trajectory("iToHp");
var hpToJ = routine.trajectory("hpToJ");
var jToHp = routine.trajectory("jToHp");
var hpToL = routine.trajectory("hpToL");
var lToHp = routine.trajectory("lToHp");
var hpToK = routine.trajectory("hpToK");
var kToHp = routine.trajectory("kToHp");
routine.active().onTrue(startToI.cmd());
startToI
.done()
.onTrue(
drive
.autoAlign(() -> startToI.getFinalPose().get())
.until(drive.atSetpoint.and(elevator.atSetpoint))
.andThen(ejector.eject(20))
.until(ejector.backSensor.negate())
.andThen(iToHp.cmd())
.withInterruptBehavior(InterruptionBehavior.kCancelIncoming));
startToI
.atTime("RaiseElevator")
.onTrue(
elevator
.goToSetpoint(ElevatorSetpoints.L2, intake.backSensor.negate())
.until(ejector.backSensor.negate()));
iToHp
.done()
.onTrue(
drive
.autoAlign(() -> iToHp.getFinalPose().get())
.until(intake.frontSensor)
.andThen(hpToJ.cmd())
.withInterruptBehavior(InterruptionBehavior.kCancelIncoming));
hpToJ
.done()
.onTrue(
drive
.autoAlign(() -> hpToJ.getFinalPose().get())
.until(drive.atSetpoint)
.andThen(ejector.eject(20))
.until(ejector.backSensor.negate())
.andThen(jToHp.cmd())
.withInterruptBehavior(InterruptionBehavior.kCancelIncoming));
jToHp
.done()
.onTrue(
drive
.autoAlign(() -> jToHp.getFinalPose().get())
.until(intake.frontSensor)
.andThen(hpToL.cmd())
.withInterruptBehavior(InterruptionBehavior.kCancelIncoming));
hpToJ
.atTime("RaiseElevator")
.onTrue(
elevator
.goToSetpoint(ElevatorSetpoints.L2, intake.backSensor.negate())
.until(ejector.backSensor.negate()));
hpToL
.done()
.onTrue(
drive
.autoAlign(() -> hpToL.getFinalPose().get())
.until(drive.atSetpoint)
.andThen(ejector.eject(20))
.until(ejector.backSensor.negate())
.andThen(lToHp.cmd())
.withInterruptBehavior(InterruptionBehavior.kCancelIncoming));
lToHp
.done()
.onTrue(
drive
.autoAlign(() -> lToHp.getFinalPose().get())
.until(intake.frontSensor)
.andThen(hpToK.cmd())
.withInterruptBehavior(InterruptionBehavior.kCancelIncoming));
hpToL
.atTime("RaiseElevator")
.onTrue(
elevator
.goToSetpoint(ElevatorSetpoints.L3, intake.backSensor.negate())
.until(ejector.backSensor.negate()));
hpToK
.done()
.onTrue(
sequence(
drive
.autoAlign(() -> hpToK.getFinalPose().get())
.until(drive.atSetpoint.and(elevator.atSetpoint)),
ejector.eject(20).until(ejector.backSensor.negate()),
parallel(
drive.autoAlign(DriveSetpoints.CLOSE_LEFT::getPose),
elevator
.goToSetpoint(
ElevatorSetpoints.AlgaePopLow, intake.backSensor.negate())
.asProxy(),
ejector.eject(30))
.withTimeout(1),
kToHp.cmd())
.withInterruptBehavior(InterruptionBehavior.kCancelIncoming));
hpToK
.atTime("RaiseElevator")
.onTrue(
elevator
.goToSetpoint(ElevatorSetpoints.L3, intake.backSensor.negate())
.until(ejector.backSensor.negate()));
return routine;
}
public static AutoRoutine fivePieceLeft(
AutoFactory factory, Drive drive, Ejector ejector, Elevator elevator, Intake intake) {
var routine = factory.newRoutine("fivePieceLeft");
var startToI = routine.trajectory("startToI");
var iToHp = routine.trajectory("iToHp");
var hpToJ = routine.trajectory("hpToJ");
var jToHp = routine.trajectory("jToHp");
var hpToL = routine.trajectory("hpToL");
var lToHp = routine.trajectory("lToHp");
var hpToK = routine.trajectory("hpToK");
var hpToK2 = routine.trajectory("hpToK2");
var kToHp = routine.trajectory("kToHp");
routine
.active()
.onTrue(
drive
.autoAlign(() -> startToI.getInitialPose().get())
.until(drive.atSetpoint)
.andThen(startToI.cmd()));
startToI
.done()
.onTrue(
drive
.autoAlign(() -> startToI.getFinalPose().get())
.until(drive.atSetpoint.and(elevator.atSetpoint))
.andThen(ejector.eject(20))
.until(ejector.backSensor.negate())
.andThen(iToHp.cmd())
.withInterruptBehavior(InterruptionBehavior.kCancelIncoming));
startToI
.atTime("RaiseElevator")
.onTrue(
elevator
.goToSetpoint(ElevatorSetpoints.L2, intake.backSensor.negate())
.until(ejector.backSensor.negate()));
iToHp
.done()
.onTrue(
drive
.autoAlign(() -> iToHp.getFinalPose().get())
.until(intake.frontSensor)
.andThen(hpToJ.cmd())
.withInterruptBehavior(InterruptionBehavior.kCancelIncoming));
hpToJ
.done()
.onTrue(
drive
.autoAlign(() -> hpToJ.getFinalPose().get())
.until(drive.atSetpoint.and(elevator.atSetpoint))
.andThen(ejector.eject(20))
.until(ejector.backSensor.negate())
.andThen(jToHp.cmd())
.withInterruptBehavior(InterruptionBehavior.kCancelIncoming));
jToHp
.done()
.onTrue(
drive
.autoAlign(() -> jToHp.getFinalPose().get())
.until(intake.frontSensor)
.andThen(hpToL.cmd())
.withInterruptBehavior(InterruptionBehavior.kCancelIncoming));
hpToJ
.atTime("RaiseElevator")
.onTrue(
elevator
.goToSetpoint(ElevatorSetpoints.L2, intake.backSensor.negate())
.until(ejector.backSensor.negate()));
hpToL
.done()
.onTrue(
drive
.autoAlign(() -> hpToL.getFinalPose().get())
.until(drive.atSetpoint)
.andThen(ejector.eject(20))
.until(ejector.backSensor.negate())
.andThen(lToHp.cmd())
.withInterruptBehavior(InterruptionBehavior.kCancelIncoming));
lToHp
.done()
.onTrue(
drive
.autoAlign(() -> lToHp.getFinalPose().get())
.until(intake.frontSensor)
.andThen(hpToK.cmd())
.withInterruptBehavior(InterruptionBehavior.kCancelIncoming));
hpToL
.atTime("RaiseElevator")
.onTrue(
elevator
.goToSetpoint(ElevatorSetpoints.L3, intake.backSensor.negate())
.until(ejector.backSensor.negate()));
hpToK
.done()
.onTrue(
sequence(
drive
.autoAlign(() -> hpToK.getFinalPose().get())
.until(drive.atSetpoint.and(elevator.atSetpoint)),
ejector.eject(20).until(ejector.backSensor.negate()),
parallel(
drive.autoAlign(DriveSetpoints.CLOSE_LEFT::getPose),
elevator
.goToSetpoint(
ElevatorSetpoints.AlgaePopLow, intake.backSensor.negate())
.asProxy(),
ejector.eject(30))
.withTimeout(0.5),
kToHp.cmd())
.withInterruptBehavior(InterruptionBehavior.kCancelIncoming));
hpToK
.atTime("RaiseElevator")
.onTrue(
elevator
.goToSetpoint(ElevatorSetpoints.L3, intake.backSensor.negate())
.until(ejector.backSensor.negate()));
kToHp
.done()
.onTrue(
drive
.autoAlign(() -> kToHp.getFinalPose().get())
.until(intake.frontSensor)
.andThen(hpToK2.cmd())
.withInterruptBehavior(InterruptionBehavior.kCancelIncoming));
hpToK2
.atTime("RaiseElevator")
.onTrue(
elevator
.goToSetpoint(ElevatorSetpoints.L2, intake.backSensor.negate())
.until(ejector.backSensor.negate()));
hpToK2
.done()
.onTrue(
drive
.autoAlign(() -> hpToK2.getFinalPose().get())
.until(drive.atSetpoint)
.andThen(ejector.eject(20))
.until(ejector.backSensor.negate())
.andThen(kToHp.cmd())
.withInterruptBehavior(InterruptionBehavior.kCancelIncoming));
return routine;
}
public static AutoRoutine fivePieceRight(
AutoFactory factory, Drive drive, Ejector ejector, Elevator elevator, Intake intake) {
var routine = factory.newRoutine("fivePieceRight");
var startToF = routine.trajectory("startToF");
var fToHp = routine.trajectory("fToHP");
var hpToE = routine.trajectory("hpToE");
var eToHp = routine.trajectory("eToHp");
var hpToD = routine.trajectory("hpToD");
var dToHp = routine.trajectory("dToHP");
var hpToC = routine.trajectory("hpToC");
var hpToC2 = routine.trajectory("hpToC2");
var cToHp = routine.trajectory("cToHP");
// routine
// .active()
// .onTrue(
// drive
// .autoAlign(() -> startToF.getInitialPose().get())
// .until(drive.atSetpoint)
// .andThen(startToF.cmd()));
routine.active().onTrue(startToF.cmd());
startToF
.done()
.onTrue(
drive
.autoAlign(() -> startToF.getFinalPose().get())
.until(drive.atSetpoint.and(elevator.atSetpoint))
.andThen(ejector.eject(20))
.until(ejector.backSensor.negate())
.andThen(fToHp.cmd())
.withInterruptBehavior(InterruptionBehavior.kCancelIncoming));
startToF
.atTime("RaiseElevator")
.onTrue(
elevator
.goToSetpoint(ElevatorSetpoints.L2, intake.backSensor.negate())
.until(ejector.backSensor.negate()));
fToHp
.done()
.onTrue(
drive
.autoAlign(() -> fToHp.getFinalPose().get())
.until(intake.frontSensor)
.andThen(hpToE.cmd())
.withInterruptBehavior(InterruptionBehavior.kCancelIncoming));
hpToE
.done()
.onTrue(
drive
.autoAlign(() -> hpToE.getFinalPose().get())
.until(drive.atSetpoint.and(elevator.atSetpoint))
.andThen(ejector.eject(20))
.until(ejector.backSensor.negate())
.andThen(eToHp.cmd())
.withInterruptBehavior(InterruptionBehavior.kCancelIncoming));
eToHp
.done()
.onTrue(
drive
.autoAlign(() -> eToHp.getFinalPose().get())
.until(intake.frontSensor)
.andThen(hpToD.cmd())
.withInterruptBehavior(InterruptionBehavior.kCancelIncoming));
hpToE
.atTime("RaiseElevator")
.onTrue(
elevator
.goToSetpoint(ElevatorSetpoints.L2, intake.backSensor.negate())
.until(ejector.backSensor.negate()));
hpToD
.done()
.onTrue(
drive
.autoAlign(() -> hpToD.getFinalPose().get())
.until(drive.atSetpoint)
.andThen(ejector.eject(20))
.until(ejector.backSensor.negate())
.andThen(dToHp.cmd())
.withInterruptBehavior(InterruptionBehavior.kCancelIncoming));
dToHp
.done()
.onTrue(
drive
.autoAlign(() -> dToHp.getFinalPose().get())
.until(intake.frontSensor)
.andThen(hpToC.cmd())
.withInterruptBehavior(InterruptionBehavior.kCancelIncoming));
hpToD
.atTime("RaiseElevator")
.onTrue(
elevator
.goToSetpoint(ElevatorSetpoints.L3, intake.backSensor.negate())
.until(ejector.backSensor.negate()));
hpToC
.done()
.onTrue(
sequence(
drive
.autoAlign(() -> hpToC.getFinalPose().get())
.until(drive.atSetpoint.and(elevator.atSetpoint)),
ejector.eject(20).until(ejector.backSensor.negate()),
parallel(
drive.autoAlign(DriveSetpoints.CLOSE_RIGHT::getPose),
elevator
.goToSetpoint(
ElevatorSetpoints.AlgaePopLow, intake.backSensor.negate())
.asProxy(),
ejector.eject(30))
.withTimeout(0.5),
cToHp.cmd())
.withInterruptBehavior(InterruptionBehavior.kCancelIncoming));
hpToC
.atTime("RaiseElevator")
.onTrue(
elevator
.goToSetpoint(ElevatorSetpoints.L3, intake.backSensor.negate())
.until(ejector.backSensor.negate()));
cToHp
.done()
.onTrue(
drive
.autoAlign(() -> cToHp.getFinalPose().get())
.until(intake.frontSensor)
.andThen(hpToC2.cmd())
.withInterruptBehavior(InterruptionBehavior.kCancelIncoming));
hpToC2
.atTime("RaiseElevator")
.onTrue(
elevator
.goToSetpoint(ElevatorSetpoints.L2, intake.backSensor.negate())
.until(ejector.backSensor.negate()));
hpToC2
.done()
.onTrue(
drive
.autoAlign(() -> hpToC2.getFinalPose().get())
.until(drive.atSetpoint)
.andThen(ejector.eject(20))
.until(ejector.backSensor.negate())
.andThen(cToHp.cmd())
.withInterruptBehavior(InterruptionBehavior.kCancelIncoming));
return routine;
}
}