Combining trajectories with other commands during auton?

Technical Programming
1

What are recommend patterns for integrating trajectories using path following with other commands during autonomous?

For example, the students have created elaborate paths for picking up cargo, but haven’t integrated deploying the intake, aiming, shooting, etc.

It seems the simplest way is to carve up the trajectories into components and chain them together inserting the other commands.

However, I was hoping that there is another way people have found successful…. For example somehow monitoring the state of trajectories or placing hooks into trajectory paths.

Thank you!

2

Command groups are the key.

You can compose a command group as a series of command groups, some of which can be sequential, some parallel, etc.

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3

Thanks for the reply! That confirms what I was thinking.

4

There’s some discussion here:

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