Offseason · Week 6 of 8

Autonomous & Choreo

Auto sequences, field coordinates, odometry, and Choreo path following.

Autonomous Period Choreo Path Following Auto Chooser

Autonomous Period

During the 15-second auto period, the robot runs entirely on its own — no driver input. Your code must handle all movement, scoring, and positioning decisions using sensors and pre-planned paths.

java — simple auto command sequence

import static edu.wpi.first.wpilibj2.command.Commands.*;

Command getAutoCommand() {
    return sequence(
        new DriveForwardCommand(drive, 1.5),   // drive 1.5m
        parallel(
            new SpinUpShooterCommand(shooter),  // spin up while
            new WaitCommand(1.5)               // waiting 1.5s
        ),
        new ScoreCommand(shooter),             // shoot
        new DriveBackCommand(drive, 0.5)       // back off
    );
}

Choreo Path Following

Choreo is WRT's path following library. you design robot trajectories visually in the Choreo desktop app, export them, and follow them precisely in code using odometry. it integrates tightly with WPILib's command-based architecture and is what you'll use for all multi-piece autos on the actual robot.

why Choreo, not PathPlanner? Choreo generates time-optimized trajectories with physics constraints baked in, exports a standard JSON format, and has first-class WPILib integration. it's also what the team has standardized on — so all existing auto routines use it. see the style guide for the team's official stance.

java — Choreo auto (WPILib integration)

import choreo.auto.AutoFactory;
import choreo.auto.AutoRoutine;
import choreo.auto.AutoTrajectory;

// In RobotContainer, build a routine from a .traj file
AutoRoutine twopiece = autoFactory.newRoutine("twoPiece");
AutoTrajectory traj = twopiece.trajectory("twoPiece");

// chain commands: follow path, then score
twopiece.active().onTrue(
    traj.cmd().andThen(new ScoreCommand(m_shooter))
);

return twopiece.cmd();

Auto Chooser

java — RobotContainer auto chooser

private final SendableChooser<Command> autoChooser = new SendableChooser<>();

public RobotContainer() {
    autoChooser.setDefaultOption("Do Nothing", new WaitCommand(15));
    autoChooser.addOption("Drive Forward", new DriveForwardCommand(drive, 1.5));
    autoChooser.addOption("2 Piece", AutoBuilder.buildAuto("2 Piece Center"));
    SmartDashboard.putData("Auto Mode", autoChooser);
}

public Command getAutonomousCommand() {
    return autoChooser.getSelected();
}

Knowledge Check

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