core/com.asiankoala.koawalib.command.commands

Package com.asiankoala.koawalib.command.commands

Types

open class ChooseCmd( onTrue: Cmd, onFalse: Cmd, condition: () -> Boolean) : Cmd

Command that chooses between two different commands based on condition

abstract class Cmd

Commands are the basis of how koawalib interacts with the robot. Each command has initialize(), execute(), and end() methods executed throughout its lifecycle. Commands contain a list of subsystem "requirements", preventing multiple subsystems accessing a command simultaneously. All commands are scheduled and ran through the CommandScheduler.

FieldCentricCmd

class FieldCentricCmd @JvmOverloads constructor( imu: KIMU, drive: KMecanumDrive, leftStick: KStick, rightStick: KStick, scalars: Pose = Pose(1.0, 1.0, 1.0), cubics: Pose = Pose(1.0, 1.0, 1.0), constants: Pose = Pose(1.0, 1.0, 1.0)) : MecanumCmd

GVFCmd

class GVFCmd( drive: KMecanumOdoDrive, controller: GVFController, cmds: ProjQuery) : Cmd

InstantCmd

open class InstantCmd(action: () -> Unit, requirements: KSubsystem) : Cmd

Command that runs once and stops

LoopCmd

class LoopCmd(action: () -> Unit, requirements: KSubsystem) : LoopUntilCmd

Command that runs infinitely

LoopUntilCmd

open class LoopUntilCmd( action: () -> Unit, endCondition: () -> Boolean, requirements: KSubsystem) : Cmd

MecanumCmd

open class MecanumCmd @JvmOverloads constructor( drive: KMecanumDrive, leftStick: KStick, rightStick: KStick, scalars: Pose = Pose(1.0, 1.0, 1.0), cubics: Pose = Pose(1.0, 1.0, 1.0), constants: Pose = Pose(1.0, 1.0, 1.0)) : Cmd

TeleOp drive control command vector drive power is calculated with the function: f(x) = max(0, s * x * (kx^3 - k + 1)) * sgn(x) e.g. xPower = max(0, xScalar * leftStick.x * (xCubic * leftStick.x ^ 3 - xCubic + 1) see the desmos graph for an understanding of it

RumbleCmd

class RumbleCmd(gamepad: KGamepad, ms: Int) : InstantCmd

WaitCmd

class WaitCmd(seconds: Double) : Cmd

Dummy command, finishes after n seconds

WaitUntilCmd

class WaitUntilCmd(condition: () -> Boolean) : Cmd

Dummy command, finishes when condition is called

WatchdogCmd

class WatchdogCmd(toSchedule: Cmd, condition: () -> Boolean) : Cmd