core/com.rowanmcalpin.nextftc.core.command.utility.statemachine/AdvancingCommand

AdvancingCommand

class AdvancingCommand : StateMachineCommand<Int>

A Command that advances through a list of commands

Author

BeepBot99

Throws

StateNotSetException

if the command returned by advance or retreat is called before a state has been added

Constructors

AdvancingCommand

constructor()

Properties

open val interruptible: Boolean

Whether this command can be stopped due to a conflict of Subsystems.

open override var isDone: Boolean

Whether this command has completed running. Often implemented using a getter function, although it can be set directly for commands that stop instantly or never stop. Please note that in certain circumstances the command will be stopped before this evaluates to true, most notably during subsystem conflicts or when the OpMode has been stopped.

open val subsystems: Set<Subsystem>

A set of all Subsystems this command implements.

Functions

fun add(command: Command): AdvancingCommand

Adds a new command to the advancing command

fun advance(): Command

Advances to the next command, looping back if it's on the last command

fun afterTime(time: TimeSpan): SequentialGroup

fun afterTime(time: Double): SequentialGroup

fun afterTime(time: Int): SequentialGroup

Returns a SequentialGroup with a Delay and then this command

fun and(vararg commands: Command): ParallelGroup

Returns a ParallelGroup with this command and an arbitrary number of other commands

fun asDeadline(vararg commands: Command): ParallelDeadlineGroup

Returns a ParallelDeadlineGroup with this command as the deadline

fun end(): InstantCommand

Stops the state machine

fun endAfter(time: TimeSpan): ParallelRaceGroup

fun endAfter(time: Double): ParallelRaceGroup

fun endAfter(time: Int): ParallelRaceGroup

Returns a ParallelRaceGroup with this command and a Delay of time

operator fun invoke()

Allows you to directly "call" a command

fun perpetually(): PerpetualCommand

Returns a PerpetualCommand that wraps this command

fun raceWith(vararg commands: Command): ParallelRaceGroup

Returns a ParallelRaceGroup with this command and an arbitrary number of other commands

fun retreat(): Command

Retreats to the previous command, looping back if it's on the first command

fun setState(state: () -> Int): InstantCommand

Sets the state of the state machine

open override fun start()

Called once when the command is first started

fun state(state: Int, command: Command): StateMachineCommand<Int>

fun state(state: Int, commandFactory: (StateMachineCommand<Int>) -> Command): StateMachineCommand<Int>

Adds a new state to the state machine

open override fun stop(interrupted: Boolean)

Called once when the command is stopped.

fun then(vararg commands: Command): SequentialGroup

Returns a SequentialGroup with this command and an arbitrary number of other commands

fun thenWait(time: TimeSpan): SequentialGroup

fun thenWait(time: Double): SequentialGroup

fun thenWait(time: Int): SequentialGroup

Returns a SequentialGroup with this command and then a Delay

open override fun update()

Called repeatedly while the command is running.

fun withDeadline(deadline: Command): ParallelDeadlineGroup

Returns a ParallelDeadlineGroup with this command and the passed command as the deadline