ChoreoExtended

A trajectory event library super charging choreo with reliable events.

Setup

Paste this url when installing online libraries using vendordep manager in order to install.

https://raw.githubusercontent.com/ThePinkAlliance/choreo-extended/main/vendor.json

Instant Action Example

This is an action that runs once called an InstantAction. The action below will execute sysout printing "Hello!!" in the console when the action named action-name is trigged by choreo.

var action_one = new InstantAction(() -> {
  System.out.println("Hello!!");
}, "trajectory-event-name");

NOTE: The example above is creating a looping action which will print the text "Hello!!" once before exiting. And all of this will happen when the trajectory event called "trajectory-event-name" in Choreo UI is triggered.

Looping Action Example

A looping action runs a java runnable repeatly for a specified duration when the trajectory event is triggered. Keep in mind when using looping actions that any commands sent to the motors won't be canceled when the action exits.

var looping_action = new LoopingAction(() -> {
  System.out.println("Looping Action!!");
}, 1, "trajectory-event-name");

NOTE: The example above is creating a looping action which will print the text "Looping Action!!" repeatly for 1 second before exiting. And all of this will happen when the trajectory event called "trajectory-event-name" in Choreo UI is triggered.

Action Cleanup

This is a looping action with a custom cleanup method. The ExtendableLoopingAction and ExtendableInstantAction was created specificly in order to allow for custom cleanup functions.

Looping Variant

public class CustomAction extends ExtendableLoopingAction {
  public CustomAction() {
    // Connected to "custom-action" with duration of 1 second.
    super("custom-action", 1);
  }

  @Override
  public void execute() {
    // Execute motors and read sensors.
  }

  @Override
  public void exit() {
    // Stop motors and cleanup
  }
}

Instant Variant

public class CustomAction extends ExtendableInstantAction {
  public CustomAction() {
    // Connected to "custom-action".
    super("custom-action");
  }

  @Override
  public void execute() {
    // Execute motors and read sensors.
  }

  @Override
  public void exit() {
    // Stop motors and cleanup
  }
}