pedro/com.rowanmcalpin.nextftc.pedro/DriverControlled

DriverControlled

class DriverControlled @JvmOverloads constructor(val driveJoystick: Joystick, val turnJoystick: Joystick, val robotCentric: Boolean = true, val invertDrive: Boolean = false, val invertTurn: Boolean = false, val invertStrafe: Boolean = false) : Command

Uses the joystick inputs to drive the robot

Parameters

driveJoystick

The joystick to use for forward and strafe movement

turnJoystick

The joystick to use for turning

robotCentric

Whether to use robot centric or field centric movement

invertDrive

whether to invert the drive joystick

invertTurn

whether to invert the turn joystick

invertStrafe

whether to invert the strafe joystick

Constructors

DriverControlled

constructor(gamepad: GamepadEx, robotCentric: Boolean = true, invertDrive: Boolean = false, invertTurn: Boolean = false, invertStrafe: Boolean = false)

constructor(driveJoystick: Joystick, turnJoystick: Joystick, robotCentric: Boolean = true, invertDrive: Boolean = false, invertTurn: Boolean = false, invertStrafe: Boolean = false)

Properties

val driveJoystick: Joystick

open val interruptible: Boolean

val invertDrive: Boolean = false

val invertStrafe: Boolean = false

val invertTurn: Boolean = false

open override val isDone: Boolean = false

val robotCentric: Boolean = true

open override val subsystems: Set<Subsystem>

val turnJoystick: Joystick

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