BunyipsLib/au.edu.sa.mbhs.studentrobotics.bunyipslib.roadrunner/TaskBuilder

TaskBuilder

class TaskBuilder @JvmOverloads constructor(constants: Constants, startPose: Pose2d, poseMap: PoseMap, caller: RoadRunnerDrive? = null)

Extension of a RoadRunner trajectory builder to provide WPIUnits and task building support.

Author

Lucas Bubner, 2024

Since

6.0.0

Constructors

TaskBuilder

@JvmOverloads

constructor(constants: Constants, startPose: Pose2d, poseMap: PoseMap, caller: RoadRunnerDrive? = null)

Functions

addTask

fun addTask()

Build the current trajectory and add it to the current AutonomousBunyipsOpMode task queue with the settings defined in this builder.

afterDisp

@JvmOverloads

fun afterDisp(ds: Double, unit: Distance = Inches, a: Action): TaskBuilder

Schedules action a to execute in parallel starting at a displacement ds after the last trajectory segment. The action start is clamped to the span of the current trajectory.

@JvmOverloads

fun afterDisp(ds: Double, unit: Distance = Inches, f: InstantFunction): TaskBuilder

Schedules function f to execute in parallel starting at a displacement ds after the last trajectory segment. The action start is clamped to the span of the current trajectory.

afterTime

@JvmOverloads

fun afterTime(dt: Double, unit: Time = Seconds, a: Action): TaskBuilder

Schedules action a to execute in parallel starting dt seconds after the last trajectory segment, turn, or other action.

@JvmOverloads

fun afterTime(dt: Double, unit: Time = Seconds, f: InstantFunction): TaskBuilder

Schedules function f to execute in parallel starting dt seconds after the last trajectory segment, turn, or other action.

build

fun build(): ActionTask

Build the current trajectory and return it as a Task/Action.

endTrajectory

fun endTrajectory(): TaskBuilder

Ends the current trajectory in progress. No-op if no trajectory segments are pending.

fresh

fun fresh(): TaskBuilder

Creates a new builder with the same settings and default constraints at the current pose, tangent.

lineToX

@JvmOverloads

fun lineToX(posX: Double, unit: Distance = Inches): TaskBuilder

Move to the specified posX coordinate in the direction of the current heading.

lineToXConstantHeading

@JvmOverloads

fun lineToXConstantHeading(posX: Double, unit: Distance = Inches): TaskBuilder

Move to the specified posX coordinate in the direction of the current heading.

lineToXLinearHeading

@JvmOverloads

fun lineToXLinearHeading(posX: Double, posUnit: Distance = Inches, heading: Rotation2d): TaskBuilder

@JvmOverloads

fun lineToXLinearHeading(posX: Double, posUnit: Distance = Inches, heading: Double, headingUnit: Angle = Radians): TaskBuilder

Move to the specified posX coordinate in the direction of the current heading while linearly interpolating the heading to heading.

lineToXSplineHeading

@JvmOverloads

fun lineToXSplineHeading(posX: Double, posUnit: Distance = Inches, heading: Rotation2d): TaskBuilder

@JvmOverloads

fun lineToXSplineHeading(posX: Double, posUnit: Distance = Inches, heading: Double, headingUnit: Angle = Radians): TaskBuilder

Move to the specified posX coordinate in the direction of the current heading while spline interpolating the heading to heading.

lineToY

@JvmOverloads

fun lineToY(posY: Double, unit: Distance = Inches): TaskBuilder

Move to the specified posY coordinate in the direction of the current heading.

lineToYConstantHeading

@JvmOverloads

fun lineToYConstantHeading(posY: Double, unit: Distance = Inches): TaskBuilder

Move to the specified posY coordinate in the direction of the current heading.

lineToYLinearHeading

@JvmOverloads

fun lineToYLinearHeading(posY: Double, posUnit: Distance = Inches, heading: Rotation2d): TaskBuilder

@JvmOverloads

fun lineToYLinearHeading(posY: Double, posUnit: Distance = Inches, heading: Double, headingUnit: Angle = Radians): TaskBuilder

Move to the specified posY coordinate in the direction of the current heading while linearly interpolating the heading to heading.

lineToYSplineHeading

@JvmOverloads

fun lineToYSplineHeading(posY: Double, posUnit: Distance = Inches, heading: Rotation2d): TaskBuilder

@JvmOverloads

fun lineToYSplineHeading(posY: Double, posUnit: Distance = Inches, heading: Double, headingUnit: Angle = Radians): TaskBuilder

Move to the specified posY coordinate in the direction of the current heading while spline interpolating the heading to heading.

resetAccelConstraints

fun resetAccelConstraints(): TaskBuilder

Reset the acceleration constraints to default.

resetTurnConstraints

fun resetTurnConstraints(): TaskBuilder

Reset the turn constraints to default.

resetVelConstraints

fun resetVelConstraints(): TaskBuilder

Reset the velocity constraints to default.

setAccelConstraints

fun setAccelConstraints(constraints: Accel): TaskBuilder

Set the acceleration constraints as defined by an Accel object.

fun setAccelConstraints(accelConstraints: AccelConstraint): TaskBuilder

Set the acceleration constraints for future builder instructions in units of inches.

setReversed

fun setReversed(reversed: Boolean): TaskBuilder

Set the reversed tangent state of the builder.

setTangent

fun setTangent(r: Rotation2d): TaskBuilder

@JvmOverloads

fun setTangent(r: Double, unit: Angle = Radians): TaskBuilder

Sets the tangent of the builder.

setTurnConstraints

fun setTurnConstraints(constraints: Turn): TaskBuilder

Set the turn constraints as defined by a Turn object.

fun setTurnConstraints(constraintsInches: TurnConstraints): TaskBuilder

Set the turn constraints for future builder instructions in units of inches.

setVelConstraints

fun setVelConstraints(constraints: Vel): TaskBuilder

Set the velocity constraints as defined by a Vel object.

fun setVelConstraints(velConstraintsInches: VelConstraint): TaskBuilder

Set the velocity constraints for future builder instructions in units of inches.

splineTo

@JvmOverloads

fun splineTo(pos: Vector2d, unit: Distance = Inches, tangent: Rotation2d): TaskBuilder

@JvmOverloads

fun splineTo(pos: Vector2d, unit: Distance = Inches, tangent: Double, tangentUnit: Angle = Radians): TaskBuilder

Move to the specified pos in a spline path while following the specified tangent.

splineToConstantHeading

@JvmOverloads

fun splineToConstantHeading(pos: Vector2d, unit: Distance = Inches, tangent: Rotation2d): TaskBuilder

@JvmOverloads

fun splineToConstantHeading(pos: Vector2d, unit: Distance = Inches, tangent: Double, tangentUnit: Angle = Radians): TaskBuilder

Move to the specified pos in a spline path while maintaining the current heading.

splineToLinearHeading

@JvmOverloads

fun splineToLinearHeading(poseHeadingRad: Pose2d, vectorUnit: Distance = Inches, tangent: Rotation2d): TaskBuilder

@JvmOverloads

fun splineToLinearHeading(poseHeadingRad: Pose2d, vectorUnit: Distance = Inches, tangent: Double, tangentUnit: Angle = Radians): TaskBuilder

Move to the specified poseHeadingRad in a spline path while linearly interpolating the heading to tangent.

@JvmOverloads

fun splineToLinearHeading(vector: Vector2d, vectorUnit: Distance = Inches, heading: Double, headingUnit: Angle = Radians, tangent: Rotation2d): TaskBuilder

@JvmOverloads

fun splineToLinearHeading(vector: Vector2d, vectorUnit: Distance = Inches, heading: Double, headingUnit: Angle = Radians, tangent: Double, tangentUnit: Angle = Radians): TaskBuilder

Move to the specified vector tangent to heading in a spline path while linearly interpolating the robot heading to tangent.

splineToSplineHeading

@JvmOverloads

fun splineToSplineHeading(poseHeadingRad: Pose2d, vectorUnit: Distance = Inches, tangent: Rotation2d): TaskBuilder

@JvmOverloads

fun splineToSplineHeading(poseHeadingRad: Pose2d, vectorUnit: Distance = Inches, tangent: Double, tangentUnit: Angle = Radians): TaskBuilder

Move to the specified poseHeadingRad in a spline path while spline interpolating the heading to tangent.

@JvmOverloads

fun splineToSplineHeading(vector: Vector2d, vectorUnit: Distance = Inches, heading: Double, headingUnit: Angle = Radians, tangent: Rotation2d): TaskBuilder

@JvmOverloads

fun splineToSplineHeading(vector: Vector2d, vectorUnit: Distance = Inches, heading: Double, headingUnit: Angle = Radians, tangent: Double, tangentUnit: Angle = Radians): TaskBuilder

Move to the specified vector tangent to heading in a spline path while spline interpolating the robot heading to tangent.

stopAndAdd

fun stopAndAdd(a: Action): TaskBuilder

Stops the current trajectory (like endTrajectory) and adds action a next.

fun stopAndAdd(f: InstantFunction): TaskBuilder

Stops the current trajectory (like endTrajectory) and adds the instant function f next.

strafeTo

@JvmOverloads

fun strafeTo(pos: Vector2d, unit: Distance = Inches): TaskBuilder

Move to the specified pos vector while maintaining the current heading.

strafeToConstantHeading

@JvmOverloads

fun strafeToConstantHeading(pos: Vector2d, unit: Distance = Inches): TaskBuilder

Move to the specified pos vector while maintaining the current heading.

strafeToLinearHeading

@JvmOverloads

fun strafeToLinearHeading(pos: Vector2d, posUnit: Distance = Inches, heading: Rotation2d): TaskBuilder

@JvmOverloads

fun strafeToLinearHeading(pos: Vector2d, posUnit: Distance = Inches, heading: Double, headingUnit: Angle = Radians): TaskBuilder

Move to the specified pos vector while linearly interpolating the heading to heading.

strafeToSplineHeading

@JvmOverloads

fun strafeToSplineHeading(pos: Vector2d, posUnit: Distance = Inches, heading: Rotation2d): TaskBuilder

@JvmOverloads

fun strafeToSplineHeading(pos: Vector2d, posUnit: Distance = Inches, heading: Double, headingUnit: Angle = Radians): TaskBuilder

Move to the specified pos vector while spline interpolating the heading to heading.

turn

@JvmOverloads

fun turn(angle: Double, unit: Angle = Radians): TaskBuilder

Turn the robot by angle in unit.

turnTo

fun turnTo(heading: Rotation2d): TaskBuilder

Turn the robot to the heading, specified as a Rotation2d in radians.

@JvmOverloads

fun turnTo(heading: Double, unit: Angle = Radians): TaskBuilder

Turn the robot to the heading in unit.

waitFor

@JvmOverloads

fun waitFor(t: Double, unit: Time = Seconds): TaskBuilder

Waits t time units of unit.

waitSeconds

fun waitSeconds(t: Double): TaskBuilder

Waits t seconds.

withName

fun withName(name: String): TaskBuilder

Set the name for the underlying task.

withPriority

fun withPriority(priority: AutonomousBunyipsOpMode.TaskPriority): TaskBuilder

Set the priority for the underlying task if using addTask.

withTimeout

fun withTimeout(timeout: Measure<Time>): TaskBuilder

Set the timeout for the underlying task.