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Safe Auto Failover

Disclaimer: WIP and untested; validate paths and timings on your robot. Custom code built on WPILib APIs.

Plan: Provide a low-risk auto: taxi, stash/preload fuel safely, no shooting unless hub state confirmed.

Code (Java, chooser hook)

public Command safeAuto(DriveSubsystem drive) {
  PathPlannerTrajectory traj = PathPlanner.loadPath("Taxi",
      new PathConstraints(2.0, 2.0));
  return new SequentialCommandGroup(
    new InstantCommand(() -> drive.resetOdometry(traj.getInitialHolonomicPose())),
    AutoBuilder.followPath(traj)
  );
}

public Command getSelected(boolean hubDataAvailable) {
  AutoMode mode = chooser.getSelected();
  if (mode == null) mode = AutoMode.FUEL_L1;
  if (!hubDataAvailable && mode == AutoMode.FUEL_L1) mode = AutoMode.SAFE;
  return switch (mode) {
    case FUEL_L1 -> fuelL1;
    case FUEL_ONLY -> fuelOnly;
    case TAXI_ONLY, SAFE -> safeAuto;
  };
}

Checklist

  • Safe path defined (short taxi, no risky turns).
  • Hub/vision check sets fallback to SAFE when bad/missing.
  • Manual button to force SAFE selection on DS.