Triggers

public class RobotContainer() { public RobotContainer() { // Subsystem initialization swerve = new Swerve(); exampleSubsystem = new ExampleSubsystem(); new EventTrigger("run intake").whileTrue(Commands.print("running intake")); new EventTrigger("shoot note").and(new Trigger(exampleSubsystem::someCondition)).onTrue(Commands.print("shoot note"); // Do all other initialization configureButtonBindings(); // ... } }

#include <pathplanner/lib/events/EventTrigger.h> using namespace pathplanner; RobotContainer::RobotContainer() : m_swerve(), m_exampleSubsystem() { EventTrigger("run intake").WhileTrue(frc2::cmd::Print("running intake")); EventTrigger("shoot note").And(frc2::Trigger([this]() { return m_exampleSubsystem.someCondition(); })).OnTrue(frc2::cmd::Print("shoot note"); // Do all other initialization configureButtonBindings(); // ... }

from pathplannerlib.events import EventTrigger class RobotContainer: def __init__(self): # Subsystem initialization self.swerve = Swerve() self.exampleSubsystem = ExampleSubsystem() EventTrigger('run intake').whileTrue(cmd.print('running intake')) EventTrigger('shoot note').and(Trigger(self.exampleSubsystem.someCondition)).onTrue(cmd.print('shoot note') # Do all other initialization self.configureButtonBindings() # ...

public class RobotContainer() { public RobotContainer() { // Subsystem initialization swerve = new Swerve(); exampleSubsystem = new ExampleSubsystem(); new PointTowardsZoneTrigger("Speaker").whileTrue(Commands.print("aiming at speaker")); // Do all other initialization configureButtonBindings(); // ... } }

#include <pathplanner/lib/events/PointTowardsZoneTrigger.h> using namespace pathplanner; RobotContainer::RobotContainer() : m_swerve(), m_exampleSubsystem() { PointTowardsZoneTrigger("Speaker").WhileTrue(frc2::cmd::Print("aiming at speaker")); // Do all other initialization configureButtonBindings(); // ... }

from pathplannerlib.events import PointTowardsZoneTrigger class RobotContainer: def __init__(self): # Subsystem initialization self.swerve = Swerve() self.exampleSubsystem = ExampleSubsystem() PointTowardsZoneTrigger('Speaker').whileTrue(cmd.print('aiming at speaker')) # Do all other initialization self.configureButtonBindings() # ...

public class RobotContainer() { public RobotContainer() { // Subsystem initialization swerve = new Swerve(); exampleSubsystem = new ExampleSubsystem(); autoCommand = new PathPlannerAuto("Example Auto"); // PathPlannerAuto can also be created with a custom command // autoCommand = new PathPlannerAuto(new CustomAutoCommand()); // Bind to different auto triggers autoCommand.isRunning().onTrue(Commands.print("Example Auto started")); autoCommand.timeElapsed(5).onTrue(Commands.print("5 seconds passed")); autoCommand.timeRange(6, 8).whileTrue(Commands.print("between 6 and 8 seconds")); autoCommand.event("Example Event Marker").onTrue(Commands.print("passed example event marker")); autoCommand.pointTowardsZone("Speaker").onTrue(Commands.print("aiming at speaker")); autoCommand.activePath("Example Path").onTrue(Commands.print("started following Example Path")); autoCommand.nearFieldPosition(new Translation2d(2, 2), 0.5).whileTrue(Commands.print("within 0.5m of (2, 2)")); autoCommand.inFieldArea(new Translation2d(2, 2), new Translation2d(4, 4)).whileTrue(Commands.print("in area of (2, 2) - (4, 4)")); // Do all other initialization configureButtonBindings(); // ... } }

#include <pathplanner/lib/commands/PathPlannerAuto.h> using namespace pathplanner; RobotContainer::RobotContainer() : m_swerve(), m_exampleSubsystem() { m_autoCommand = PathPlannerAuto("Example Auto"); // PathPlannerAuto can also be created with a custom command // m_autoCommand = PathPlannerAuto(CustomAutoCommand()); // Bind to different auto triggers m_autoCommand.isRunning().OnTrue(frc2::cmd::Print("Example Auto started")); m_autoCommand.timeElapsed(5).OnTrue(frc2::cmd::Print("5 seconds passed")); m_autoCommand.timeRange(6, 8).WhileTrue(frc2::cmd::Print("between 6 and 8 seconds")); m_autoCommand.event("Example Event Marker").OnTrue(frc2::cmd::Print("passed example event marker")); m_autoCommand.pointTowardsZone("Speaker").OnTrue(frc2::cmd::Print("aiming at speaker")); m_autoCommand.activePath("Example Path").OnTrue(frc2::cmd::Print("started following Example Path")); m_autoCommand.nearFieldPosition(Translation2d(2, 2), 0.5).WhileTrue(frc2::cmd::Print("within 0.5m of (2, 2)")); m_autoCommand.inFieldArea(Translation2d(2, 2), Translation2d(4, 4)).WhileTrue(frc2::cmd::Print("in area of (2, 2) - (4, 4)")); // Do all other initialization configureButtonBindings(); // ... }

from pathplannerlib.auto import PathPlannerAuto import commands2.cmd as cmd class RobotContainer: def __init__(self): # Subsystem initialization self.swerve = Swerve() self.exampleSubsystem = ExampleSubsystem() self.autoCommand = PathPlannerAuto("Example Auto") // Bind to different auto triggers self.autoCommand.isRunning().onTrue(cmd.print_("Example Auto started")); self.autoCommand.timeElapsed(5).onTrue(cmd.print_("5 seconds passed")); self.autoCommand.timeRange(6, 8).whileTrue(cmd.print_("between 6 and 8 seconds")); self.autoCommand.event("Example Event Marker").onTrue(cmd.print_("passed example event marker")); self.autoCommand.pointTowardsZone("Speaker").onTrue(cmd.print_("aiming at speaker")); self.autoCommand.activePath("Example Path").onTrue(cmd.print_("started following Example Path")); self.autoCommand.nearFieldPosition(Translation2d(2, 2), 0.5).whileTrue(cmd.print_("within 0.5m of (2, 2)")); self.autoCommand.inFieldArea(Translation2d(2, 2), Translation2d(4, 4)).whileTrue(cmd.print_("in area of (2, 2) - (4, 4)")); # Do all other initialization self.configureButtonBindings() # ...