BunyipsLib/au.edu.sa.mbhs.studentrobotics.bunyipslib.subsystems/BlinkinLights

BlinkinLights

open class BlinkinLights : BunyipsSubsystem

LED driver subsystem for the REV Blinkin Lights. Able to integrate with the Task system to schedule lighting patterns.

Author

Lachlan Paul, 2024

Lucas Bubner, 2024

Since

4.0.0

Constructors

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constructor(@Nullable lights: RevBlinkinLedDriver, @NonNull defaultPattern: RevBlinkinLedDriver.BlinkinPattern)
Create a new BlinkinLights subsystem.

Types

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open inner class Tasks
Tasks for BlinkinLights, access with tasks.
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enum Voltage
REV Robotics Blinkin LED Driver voltage options.

Properties

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@get:NonNull
@set:NonNull
open var defaultPattern: RevBlinkinLedDriver.BlinkinPattern
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val tasks: BlinkinLights.Tasks
Tasks for BlinkinLights.

Inherited properties

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@get:Nullable
open var currentTask: Task
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@NonNull
protected open var name: String
Reference to the unmodified name of this subsystem.
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@Nullable
protected val opMode: BunyipsOpMode
Get a reference to the currently running BunyipsOpMode.

Functions

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@NonNull
open fun forceSetPattern(@NonNull pattern: RevBlinkinLedDriver.BlinkinPattern): BlinkinLights
Set the current pattern.
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@NonNull
open fun getPattern(): RevBlinkinLedDriver.BlinkinPattern
Get the current pattern.
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protected open fun onDisable()
User callback that runs once when this subsystem is disabled by a call to disable or by an assertion failure.
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protected open fun onEnable()
User callback that runs once when this subsystem is enabled by a call to enable or the first active call to periodic.
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protected open fun periodic()
To be updated periodically on every hardware loop.
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@NonNull
open fun resetPattern(): BlinkinLights
Reset the pattern back to the default.
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@NonNull
open fun setPattern(@NonNull pattern: RevBlinkinLedDriver.BlinkinPattern): BlinkinLights
Set the current pattern.
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@NonNull
open fun setPwm(us: Double): BlinkinLights
Set the PWM value of the lights.
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@NonNull
open fun turnOff(): BlinkinLights
Cancel tasks and turn off the lights.

Inherited functions

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protected fun assertParamsNotNull(@NonNull parameters: Array<Any>): Boolean
Utility function to run NullSafety.assertComponentArgs() on the given parameters, usually on the motors/hardware/critical objects passed into the constructor.
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fun cancelCurrentTask()
Cancel the current task immediately and return to the default task, if available.
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infix fun BunyipsSubsystem.default(defaultTask: Task)

Default task setter extension for BunyipsSubsystem to set the default task of a subsystem.

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protected fun delegate(@NonNull child: BunyipsSubsystem)
Call to delegate the update of this subsystem, usually a component of another subsystem, to this subsystem.
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fun disable()
Prevent a subsystem from running.
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fun enable()
Re-enable a subsystem if it was previously disabled via a disable() call.
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fun isIdle(): Boolean
Determine if the subsystem is idle, meaning an IdleTask is running.
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protected fun opMode(@NonNull ifRunning: Consumer<BunyipsOpMode>)
Null check consumer for the opMode field which will no-op the given consumer if an active BunyipsOpMode is not present (i.e.
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@NonNull
protected fun require(@Nullable nullableOpMode: BunyipsOpMode): BunyipsOpMode
Null assertion for the opMode field which throws a NullPointerException if an active BunyipsOpMode is not present (i.e.
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open fun resetForOpMode()
Reset stored static instances of BunyipsSubsystem.
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fun setDefaultTask(@NonNull defaultTask: Task)
Set the default task for this subsystem, which will be run when no other task is running.
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fun setHighPriorityCurrentTask(@NonNull currentTask: Task)
Set the current task to the given task, overriding any current task.
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fun startThread()
fun startThread(@NonNull loopSleepDuration: Measure<Time>)
Call to delegate all updates of this subsystem to a thread that will begin execution on this method call.
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fun stopThread()
Call to stop delegating updates of this subsystem to a thread.
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fun update()
Update the subsystem and run the current task, if tasks are not set up this will just call periodic.
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open fun updateAll()
Update all instances of BunyipsSubsystem that has been constructed since the last clearing.
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fun <T : BunyipsSubsystem?> withName(@NonNull subsystemName: String): T
Set the name of this subsystem that will be used in telemetry and references.