Package frc.robot.lib.BLine

Class BLineField

java.lang.Object
frc.robot.lib.BLine.BLineField
public final class BLineField extends Object
Helpers for visualizing BLine paths on a WPILib Field2d widget.

BLine paths are polylines, so a path can be displayed directly from Path.getTranslations(). 


 Field2d field = new Field2d();
 SmartDashboard.putData("Field", field);

 BLineField.drawPath(field, scoreTwoPath);
 BLineField.drawPath(field, "Leave", leavePath);

How it renders (and why object names end in "Trajectory")

Each FieldObject2d is published as a list of poses. Elastic decides whether to draw an object as a connected polyline or as individual pose markers based on the object's name and size: an object is drawn as a connected line when its NetworkTables name ends with "trajectory" (case-insensitive) or when it contains more than 8 poses; otherwise it is drawn as discrete arrow markers, one per pose.

These helpers ensure object names end in "Trajectory" so short paths render as clean polylines in Elastic. Field2d requires poses, so these helpers create display-only rotations from the polyline direction when drawing.

  • Method Details

    • drawPath

      public static String drawPath(edu.wpi.first.wpilibj.smartdashboard.Field2d field, Path path)
      Draws a path's planned polyline using a stable, generated object name.

      The generated name is unique per Field2d and Path instance, and repeated calls with the same field and path reuse the same object name.

      Parameters:
      field - The field widget to draw on
      path - The path to draw
      Returns:
      The final Field2d object name used

    • drawPath

      public static String drawPath(edu.wpi.first.wpilibj.smartdashboard.Field2d field, String objectName, Path path)
      Draws a path's planned polyline using the given object name.

      The object name is trimmed, and "Trajectory" is appended if the name does not already end with that suffix case-insensitively. Reusing the same explicit name updates the same display slot by design.

      Parameters:
      field - The field widget to draw on
      objectName - The Field2d object name or base name to publish under
      path - The path to draw
      Returns:
      The final Field2d object name used