Autonomous Routines

Autonomous routines are designed similarly to macros, except that they are triggered automatically by the driver when autonomous mode starts instead of by buttons on the joystick. Autonomous routine selection occurs in the AutonomousRoutineSelector class, with the specific routines defined in that class as well. These routines often use control tasks, paths and trajectories. Tasks are strung together using Concurrent and Sequential tasks.

To create your own Autonomous Routines, reference the Adding Autonomous Routines page to guide you.