ftc/com.rowanmcalpin.nextftc.ftc.hardware.controllables/HoldPosition

HoldPosition

class HoldPosition @JvmOverloads constructor(val controllable: Controllable, val controller: Controller, val subsystems: Set<Subsystem> = setOf()) : Command

This implements a Controller to hold a Controllable in its current position.

Parameters

controllable

the Controllable to control

controller

the Controller to implement

subsystems

the list of subsystems this command interacts with (should be whatever subsystem holds this command)

Constructors

constructor(controllable: Controllable, controller: Controller, subsystem: Subsystem)

constructor(controllable: Controllable, controller: Controller, subsystems: Set<Subsystem> = setOf())

Properties

val controllable: Controllable

val controller: Controller

open val interruptible: Boolean

open override val isDone: Boolean = false

open override val subsystems: Set<Subsystem>

Functions

fun afterTime(time: TimeSpan): SequentialGroup

fun afterTime(time: Double): SequentialGroup

fun afterTime(time: Int): SequentialGroup

fun and(vararg commands: Command): ParallelGroup

fun asDeadline(vararg commands: Command): ParallelDeadlineGroup

fun endAfter(time: TimeSpan): ParallelRaceGroup

fun endAfter(time: Double): ParallelRaceGroup

fun endAfter(time: Int): ParallelRaceGroup

operator fun invoke()

fun perpetually(): PerpetualCommand

fun raceWith(vararg commands: Command): ParallelRaceGroup

open override fun start()

open fun stop(interrupted: Boolean)

fun then(vararg commands: Command): SequentialGroup

fun thenWait(time: TimeSpan): SequentialGroup

fun thenWait(time: Double): SequentialGroup

fun thenWait(time: Int): SequentialGroup

open override fun update()

fun withDeadline(deadline: Command): ParallelDeadlineGroup