Using the talon motion profile mode and a custom auto drive thread, playback arbitrary csv files that represent auto mode trajectories. The csv files could include a field for commands as well so that a single csv file represents all actions taken during an auto mode.
This would require a csv auto parser that runs through the csv file and sets the talon setpoints while also calling other commands for acquisition and lift at the appropriate times.
https://github.com/vannaka/Motion_Profile_Generator/tree/v1.0.2 A modified version of this would work well for generating the auto modes for each side of the field and for each field setup scenario.
Using the talon motion profile mode and a custom auto drive thread, playback arbitrary csv files that represent auto mode trajectories. The csv files could include a field for commands as well so that a single csv file represents all actions taken during an auto mode.
This would require a csv auto parser that runs through the csv file and sets the talon setpoints while also calling other commands for acquisition and lift at the appropriate times.
https://github.com/vannaka/Motion_Profile_Generator/tree/v1.0.2 A modified version of this would work well for generating the auto modes for each side of the field and for each field setup scenario.