Event Markers

Event Markers

Event markers allow you to trigger robot actions at precise moments during your autonomous routine. Whether you need to deploy an intake while driving, fire a mechanism while waiting, or spin up a flywheel while rotating, markers provide the synchronization you need.

Marker Types

There are three types of event markers, automatically determined by where they are placed in your sequence:

• Path Markers: Triggered at a specific percentage along a driving path.
  • Visual: Purple dots ● on the path line.
• Wait Markers: Triggered at a specific percentage of a wait command’s duration.
  • Visual: Purple circles with a flag icon ⚑ at the wait location.
• Rotation Markers: Triggered at a specific percentage of a rotation’s completion.
  • Visual: Cyan circles with a curved arrow icon ↻ at the rotation location.

Managing Markers

All markers are managed in the Event Markers panel in the control tab under the Field tab.

1. Add a Marker: Click the purple + Add button in the panel header. This adds a new marker to the end of your sequence.
2. Name It: Give your marker a descriptive name (e.g., "IntakeDeploy", "Shoot"). This name is used in your exported code to identify the event.
3. Position It: Use the slider or number input to set the marker’s Global Position.

Understanding Global Position

The “Global Position” value represents exactly where the marker falls in your entire sequence.

• The Whole Number (e.g., 1.xx): Represents the Step Index.
  • 0.xx is the 1st step.
  • 1.xx is the 2nd step.
  • 2.xx is the 3rd step.
• The Decimal (e.g., x.50): Represents the % Completion of that step.
  • .00 is the start (0%).
  • .50 is the middle (50%).
  • .99 is the end (99%).

Tip: You can drag the slider to seamlessly move a marker from one step to another (e.g., sliding it from a Path directly into the following Wait).

In Your Code

When you export your autonomous routine, event markers are generated as callbacks or command triggers based on the Name you assigned. Ensure your robot code handles these named events to perform the desired actions.