Example of RR Async Trajectories in use

AsyncExampleAutoop

package org.firstinspires.ftc.teamcode.autonomous;

import com.acmerobotics.dashboard.config.Config;
import com.acmerobotics.roadrunner.geometry.Pose2d;
import com.acmerobotics.roadrunner.geometry.Vector2d;
import com.acmerobotics.roadrunner.trajectory.Trajectory;
import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;

import org.firstinspires.ftc.teamcode.modules.drive.SampleMecanumDrive;

@Config
@Autonomous(name = "Async Example Autoop", group = "16481-Example")
public class AsyncExampleAutoop extends LinearOpMode {

    Trajectory trajectory1;
    Trajectory trajectory2;
    Trajectory trajectory3;

    @Override
    public void runOpMode() {


        SampleMecanumDrive drive = new SampleMecanumDrive(hardwareMap);
        
        

        trajectory1 = drive.trajectoryBuilder(new Pose2d())
                .lineTo(new Vector2d())
                .addDisplacementMarker(() -> drive.followTrajectoryAsync(trajectory2))
                // Basically just tells RR to follow the next trajectory at the end of this one
                .build();
        
        trajectory2 = drive.trajectoryBuilder(trajectory1.end())
                .lineTo(new Vector2d())
                .addDisplacementMarker(() -> drive.followTrajectoryAsync(trajectory3))
                .build();
        
        trajectory3 = drive.trajectoryBuilder(trajectory2.end())
                .lineTo(new Vector2d())
                .build();

        while (!isStopRequested() && !opModeIsActive()) {

        }

        waitForStart();

        if (isStopRequested()) return;

        drive.followTrajectoryAsync(trajectory1);
        
        while (!isStopRequested() && opModeIsActive()) {
            
            drive.update();
            
            // Put your PID Update Function Here
        }

    }

}