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

RunToPosition

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

This implements a Controller to drive a Controllable to a specified target position. When it finishes, it will set the Controllable's power to 0. To have it hold position, set the default command to a HoldPosition command.

Constructors

RunToPosition

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

@JvmOverloads

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

Properties

controllable

val controllable: Controllable

controller

val controller: Controller

interruptible

open val interruptible: Boolean

isDone

open override val isDone: Boolean

subsystems

open override val subsystems: Set<Subsystem>

target

val target: Double

Functions

afterTime

fun afterTime(time: TimeSpan): SequentialGroup

fun afterTime(time: Double): SequentialGroup

fun afterTime(time: Int): SequentialGroup

and

fun and(vararg commands: Command): ParallelGroup

asDeadline

fun asDeadline(vararg commands: Command): ParallelDeadlineGroup

endAfter

fun endAfter(time: TimeSpan): ParallelRaceGroup

fun endAfter(time: Double): ParallelRaceGroup

fun endAfter(time: Int): ParallelRaceGroup

invoke

operator fun invoke()

perpetually

fun perpetually(): PerpetualCommand

raceWith

fun raceWith(vararg commands: Command): ParallelRaceGroup

start

open override fun start()

stop

open override fun stop(interrupted: Boolean)

then

fun then(vararg commands: Command): SequentialGroup

thenWait

fun thenWait(time: TimeSpan): SequentialGroup

fun thenWait(time: Double): SequentialGroup

fun thenWait(time: Int): SequentialGroup

update

open override fun update()

withDeadline

fun withDeadline(deadline: Command): ParallelDeadlineGroup