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Make AutoTrajectory.cmd() not run if routine is inactive at initialize. #1192

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Make AutoTrajectory.cmd() not run if routine is inactive at initialize. #1192

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2043dd8
Make AutoTrajectory.cmd() not run if routine is inactive at initialize.
shueja Feb 7, 2025
5340ae8
Fix test
shueja Feb 7, 2025
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3 changes: 2 additions & 1 deletion choreolib/src/main/java/choreo/auto/AutoTrajectory.java
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Original file line number Diff line number Diff line change
Expand Up @@ -222,7 +222,8 @@ public Command cmd() {
this::cmdEnd,
this::cmdIsFinished,
driveSubsystem)
.withName("Trajectory_" + name);
.withName("Trajectory_" + name)
.onlyIf(routine.active());
}

/**
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1 change: 1 addition & 0 deletions choreolib/src/test/java/choreo/auto/DoneTest.java
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Expand Up @@ -68,6 +68,7 @@ public void testExecution() {
assertFalse(recentlyDone);

scheduler.schedule(routine.cmd());
scheduler.run(); // requred to mark routine active
scheduler.schedule(traj.cmd());
scheduler.run();

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