ftc/com.rowanmcalpin.nextftc.ftc.hardware/MotorHoldPosition

MotorHoldPosition

class ~~MotorHoldPosition~~(val motor: DcMotorEx, val controller: PIDFController, val subsystems: Set<Subsystem>) : Command

Deprecated

Removed in favor of controllables

Replace with

RunToPosition

This command holds a motor's position until another command is scheduled that uses the same subsystem.

Parameters

motor

the motor to control

controller

the controller to implement

subsystems

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

Constructors

MotorHoldPosition

constructor(motor: DcMotorEx, controller: PIDFController, subsystem: Subsystem)

constructor(motor: DcMotorEx, controller: PIDFController, subsystems: Set<Subsystem>)

Properties

controller

val controller: PIDFController

interruptible

open val interruptible: Boolean

isDone

open override val isDone: Boolean = false

motor

val motor: DcMotorEx

subsystems

open override val subsystems: Set<Subsystem>

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 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