PedroAutoDsl¶

PedroAutoDsl (in com.vcs.valleylib.ftc.pedro) is a command-first autonomous builder tailored to Pedro Pathing. It is the drive-aware sibling of the core AutoDsl: same builder style, plus follow(...) and waitUntilDriveIdle() steps that know about your PedroSubsystem.

Command auto = PedroAutoDsl.auto(drive, a -> a
    .action(() -> intake.close())
    .follow(pathToSpike, 0.85)
    .action(() -> intake.dropPreload())
    .parallel(
        drive.follow(pathToBackdrop, 0.9),
        lift.toHeight(LiftHeight.HIGH)
    )
    .waitUntilDriveIdle()
    .action(() -> outtake.score())
);

PedroAutoDsl.auto(drive, block) returns a plain Command (a sequence under the hood) — schedule it from your Autonomous OpMode, or decorate it further (auto.withTimeout(28)).

Builder methods¶

Path following¶

Method	Step added
`follow(path)`	Follow the `Path` at the follower's configured speed; the step ends when the follower is done
`follow(path, maxSpeed)`	Same, capped for this path only (a fraction of top speed)
`waitUntilDriveIdle()`	Block until the follower has settled after its path — use after `parallel(...)` blocks that contain a follow

Actions & commands¶

Method	Step added
`action(runnable)`	Run a `Runnable` once
`doInstant(runnable)`	Alias for `action`
`command(cmd)`	Run any command
`add(cmd)`	Alias for `command`

Timing & flow¶

Method	Step added
`waitSeconds(seconds)`	Pause
`waitFor(seconds)`	Alias for `waitSeconds`
`ifElse(condition, onTrue, onFalse)`	Conditional branch
`parallel(cmds...)`	Run commands together; step ends when all finish

Worked examples¶

Simple taxi¶

public static Command simpleTaxi(PedroSubsystem drive, Path taxiPath) {
    return PedroAutoDsl.auto(drive, auto -> auto
        .action(() -> System.out.println("auto:start"))
        .follow(taxiPath, 0.75)
        .waitUntilDriveIdle()
        .action(() -> System.out.println("auto:done")));
}

Taxi + cycle with a parallel intake¶

public static Command taxiAndCycle(PedroSubsystem drive,
                                   SampleIntakeHardware intake,
                                   Path taxiPath,
                                   Path cyclePath) {
    return PedroAutoDsl.auto(drive, auto -> auto
        .follow(taxiPath, 0.8)
        .parallel(
            PedroCommands.follow(drive, cyclePath, 0.9),
            intake.startEnd(intake::intakeIn, intake::stop)
        )
        .waitUntilDriveIdle()
        .action(intake::stop));
}

Both examples ship with the library in SampleAutos — see the Sample Code Walkthrough.

Vision-branched auto¶

Command auto = PedroAutoDsl.auto(drive, a -> a
    .ifElse(vision::seesPropLeft,
        drive.follow(leftSpikePath),
        drive.follow(centerSpikePath))
    .action(intake::dropPreload)
    .follow(backdropPath, 0.9)
    .waitSeconds(0.3)
    .action(outtake::score)
);

PedroAutoDsl vs. core AutoDsl¶

	`AutoDsl`	`PedroAutoDsl`
Module	`valleyLib-core`	`valleyLib-ftc`
Drive-aware `follow` / `waitUntilDriveIdle`	—	✅
`marker`, `when`, `either`, `race`, `deadline` steps	✅	— (use `command(...)` with `Commands.race(...)` etc.)
Works in desktop tests	✅	Needs Pedro classes

Anything missing from one builder can always be added through command(...) — both produce ordinary command sequences.