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Documentation Index

Fetch the complete documentation index at: https://mintlify.com/spectrum3847/2026-Spectrum/llms.txt

Use this file to discover all available pages before exploring further.

Autonomous mode runs for the first 15 seconds of each match without driver input. Spectrum uses PathPlanner to design robot paths visually and wire them to WPILib commands through Auton.java. The result is a set of named routines selectable from SmartDashboard before the match, each composed of path segments interleaved with mechanism commands.

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PathPlanner concepts

A PathPlanner path defines the physical trajectory the robot drives — a sequence of waypoints the robot passes through, along with velocity and rotation constraints. An auto is a higher-level sequence that chains multiple paths and commands together into a complete routine.
ConceptDescription
WaypointA field-relative position (and optional heading) the robot passes through
Event markerA named trigger attached to a position on the path that fires a command
AutoA named sequence of paths and commands stored in deploy/pathplanner/
Path and auto files are JSON files stored under src/main/deploy/pathplanner/. PathPlanner’s desktop GUI writes these files; the robot code reads them at runtime using PathPlannerAuto and PathPlannerPath.

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Event triggers

Auton.java declares EventTrigger constants for each named event marker used in PathPlanner: 
public static final EventTrigger autonIntake    = new EventTrigger("intake");
public static final EventTrigger autonShotPrep  = new EventTrigger("shotPrep");
public static final EventTrigger autonShoot     = new EventTrigger("shoot");
public static final EventTrigger autonClearState = new EventTrigger("clearState");
public static final EventTrigger autonUnjam     = new EventTrigger("unjam");
public static final EventTrigger autonPoseUpdate = new EventTrigger("poseUpdate");
When PathPlanner reaches a marker named "intake" during path execution, autonIntake fires and any commands bound to it via .onTrue() run automatically.

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Running a PathPlanner auto

SpectrumAuton wraps PathPlannerAuto with a short 10 ms settling delay and supports optional mirroring for field symmetry: 
public Command SpectrumAuton(String autoName, boolean mirrored) {
    Command autoCommand = new PathPlannerAuto(autoName, mirrored);
    return Commands.waitSeconds(0.01).andThen(autoCommand).withName(autoName);
}
Routines compose SpectrumAuton segments with a launch() command that aims and fires before the next path begins: 
public Command TBTB(boolean mirrored) {
    return Commands.sequence(
                    SpectrumAuton("TBTB 1", mirrored),
                    launch(),
                    SpectrumAuton("TBTB 2", mirrored),
                    launch(),
                    SpectrumAuton("TBTB 3", mirrored))
            .withName("TBTB Full - " + (mirrored ? "Right" : "Left"));
}

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SmartDashboard chooser

setupSelectors() populates a SendableChooser<Command> and pushes it to SmartDashboard under the key "Auto Chooser": 
pathChooser.setDefaultOption("Do Nothing", doNothing());

pathChooser.addOption("TBTB Left",  TBTB(false));
pathChooser.addOption("TBTB Right", TBTB(true));
pathChooser.addOption("TBTT Left",  TBTT(false));
// ...

SmartDashboard.putData("Auto Chooser", pathChooser);
The selected command is retrieved in autonomousInit via getAutonomousCommand(), which falls back to a print command if no selection is found.

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Available routines

The routines use letter codes where T = top fuel zone and B = bottom fuel zone, indicating the order of field zones visited per path segment:
RoutineSidesDescription
TBTBLeft / RightFour-segment top-bottom alternating routine
TBTTLeft / RightThree-segment variant ending top-top
TTTTLeft / RightFour-segment top-only routine
BBBBLeft / RightTwo-launch bottom-heavy routine
Optional - TBTLeft / RightThree-segment with configurable delay
Optional - BBBLeft / RightThree-segment bottom routine
2nd Man - TBTBLeft / RightDelayed start for alliance coordination
2nd Man - BBDLeft / RightDelayed start bottom variant
Routines marked “2nd Man” add a SECOND_MAN_DELAY (1.0 s) at the start so a partner robot can clear the zone first.

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Dynamic pathfinding

For situations that require navigating to an arbitrary field pose at runtime, Auton.java exposes a pathfinding helper: 
public static Command pathfindingCommandToPose(
        double xPos, double yPos, double rotation, double vel, double accel) {
    Pose2d targetPose = new Pose2d(xPos, yPos, Rotation2d.fromDegrees(rotation));
    PathConstraints constraints = new PathConstraints(
            vel, accel,
            Units.degreesToRadians(540),
            Units.degreesToRadians(720));
    return AutoBuilder.pathfindToPoseFlipped(targetPose, constraints, 0.0);
}

Robot states

How EventTrigger results connect to the Coordinator and subsystem commands.

Project structure

Where PathPlanner path files live in the deploy directory.

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