Tips for cleaner auto code

danger

This page is obviously a subject of opinion, and it's no definitive guide. These are just a few tips to better utilize Anvil + other programming concepts

Java

// Tip #1:
// Break your trajectories into smaller, more digestible chunks with anvil.execute()
// (https://www.blacksmithftc.com/anvil/custom-mappings#anvilexecute)

// Doing so makes your code much, much easier to both read and reuse
// (e.g. between a right and left side auto)

// For example, we can reuse 'awaitDeposit' here:

public Anvil rightSideTrajectory(Pose2d startPose) {
    return Anvil.forgeTrajectory(drive, startPose)
        .forwards(10)
        .turn(45)
        .execute(this::awaitDeposit);
}

public Anvil leftSideTrajectory(Pose2d startPose) {
    return Anvil.forgeTrajectory(drive, startPose)
        .forwards(10)
        .turn(-45)
        .execute(this::awaitDeposit);
}

private Anvil awaitDeposit(Anvil anvil) {
    return anvil
        .addTemporalMarker(() -> {
            lift.goToHigh();
        })
        .addTemporalMarker(.5, () -> {
            claw.open();
        })
        .waitTime(1);
}

Kotlin

// Tip #1:
// Break your trajectories into smaller, more digestible chunks with extension functions
// (Just remember to return the anvil instance)

// Doing so makes your code much, much easier to both read and reuse
// (e.g. between a right and left side auto)

// For example, we can reuse 'awaitDeposit' here:

fun rightSideTrajectory(startPose: Pose2d) =
    Anvil.forgeTrajectory(drive, startPose)
        .forwards(10)
        .turn(45)
        .awaitDeposit()

fun rightSideTrajectory(startPose: Pose2d) =
    Anvil.forgeTrajectory(drive, startPose)
        .forwards(10)
        .turn(-45)
        .awaitDeposit()

// Don't forget to return the anvil instance so that you can still chain the method
private fun Anvil.awaitDeposit() = this
    .addTemporalMarker() {
        lift.goToHigh()
    }
    .addTemporalMarker(.5) {
        claw.open()
    }
    .waitTime(1)

// Tip #2: Break your autos into different files, and if you use the trajectory-splitting
// technique as shown above, create a file for related autos to share trajectory components
// such as intaking & depositing methods

Java

// Tip #3: You can combine 'doTimes()', 'execute()', and if-elses/switch statements to create
// repeating paths that each need slight modification for accuracy

// again this is just a general example, it's ofc much more flexible than this

public Anvil mainTraj(Pose2d startPose) {
    return Anvil.forgeTrajectory(drive, startPose)
        .whateverElse(...)
        .doTimes(3, (anvil, i) -> {
            // other stuff...
            goToDeposit(anvil, i); // 'i' is the current iteration number, starting from 0
        });
}

// Example of method that makes minor trajectory corrections
// for each subsequent cycle
public void goToDeposit(Anvil anvil, int i) {
    if (i == 1) {
        anvil.splineTo(10.0, 10.0, 0);
    } else if (i == 2) {
        anvil.splineTo(10.1, 10.1, 0);
    } else if (i == 3) {
        anvil.splineTo(10.2, 10.2, 0);
    }
}

Kotlin

// Tip #3: You can combine 'doTimes()', extension methods, and when statements to create
// repeating paths that each need slight modification for accuracy

// again this is just a general example, it's ofc much more flexible than this

fun mainTraj(startPose: Pose2d) =
    Anvil.forgeTrajectory(drive, startPose)
        .whateverElse(...)
        .doTimes(3) {
            // other stuff...
            goToDeposit(it) // 'it' is the current iteration number, starting from 0
        }

// Example of method that makes minor trajectory corrections
// for each subsequent cycle
fun Anvil.goToDeposit(i: Int) = when (i) {
    1 -> splineTo(10.0, 10.0, 0)
    2 -> splineTo(10.1, 10.1, 0)
    3 -> splineTo(10.2, 10.2, 0)
    else -> noop // Using noop (which does nothing) to make Kotlin compiler happy
}

// Tip #4: Read through the documentation a bit, you're sure to find new features that may help
// you with your auto or even something else!

I'll do more later probably lol