ftc/com.rowanmcalpin.nextftc.ftc.hardware/MultipleMotorsHoldPosition

MultipleMotorsHoldPosition

class ~~MultipleMotorsHoldPosition~~(val motorsAndControllers: Map<DcMotorEx, PIDFController>, val subsystems: Set<Subsystem>) : Command

Deprecated

Removed in favor of controllables

Replace with

RunToPosition

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

Parameters

motorsAndControllers

a map of all motors and their corresponding controllers

subsystems

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

Constructors

MultipleMotorsHoldPosition

constructor(motorsAndControllers: Map<DcMotorEx, PIDFController>, subsystem: Subsystem)

constructor(motorsAndControllers: Map<DcMotorEx, PIDFController>, subsystems: Set<Subsystem>)

Properties

interruptible

open val interruptible: Boolean

isDone

open override val isDone: Boolean = false

motorsAndControllers

val motorsAndControllers: Map<DcMotorEx, PIDFController>

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