pedro/com.rowanmcalpin.nextftc.pedro/TurnTo

TurnTo

class TurnTo @JvmOverloads constructor(targetHeading: Angle, tolerance: Angle = 5.deg) : Command

A Command that turns the robot to a specified heading

Parameters

targetHeading

the heading to turn to

tolerance

the maximum error between the current heading and the target heading required to finish

Throws

FollowerNotInitializedException

if the follower is not set

Constructors

constructor(targetHeading: Angle, tolerance: Angle = 5.deg)

Properties

open val interruptible: Boolean

open override val isDone: Boolean

open 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 fun update()

fun withDeadline(deadline: Command): ParallelDeadlineGroup