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

HoldableActuator

open class HoldableActuator : BunyipsSubsystem

Controls a generic encoder motor that can be controlled through various means and commanded to hold a position.

Author

Lucas Bubner, 2024

Since

1.0.0-pre

Constructors

HoldableActuator

constructor(@Nullable motor: DcMotor)

Create a new HoldableActuator.

Types

open inner class Tasks

Tasks for HoldableActuator, access with tasks.

Properties

val tasks: HoldableActuator.Tasks

Tasks for HoldableActuator.

Inherited properties

open var currentTask: Task

protected open var name: String

Reference to the unmodified name of this subsystem.

protected val opMode: BunyipsOpMode

Get a reference to the currently running BunyipsOpMode.

Functions

disableHomingTimeout

open fun disableHomingTimeout(): HoldableActuator

Disable the timeout for the Home Task.

disableHomingZeroHits

open fun disableHomingZeroHits(): HoldableActuator

Disable the zero hit threshold for the Home Task.

disableMaxSteadyStateTime

open fun disableMaxSteadyStateTime(): HoldableActuator

Disable the max steady state timer.

disableOvercurrent

open fun disableOvercurrent(): HoldableActuator

Disable the overcurrent threshold for stall detection.

disableUserSetpointControl

open fun disableUserSetpointControl(): HoldableActuator

Calling this method will restore the user input functionality translating into direct power on the motor.

getMappedPosition

open fun getMappedPosition(@Nullable switchSensor: TouchSensor): Integer

Get the mapped position of a limit switch.

open fun map(@Nullable switchSensor: TouchSensor, position: Int): HoldableActuator

Map a limit switch to a position on the actuator, which will update the current encoder reading to the position of the switch when pressed.

protected open fun onDisable()

User callback that runs once when this subsystem is disabled by a call to disable or by an assertion failure.

protected open fun periodic()

To be updated periodically on every hardware loop.

open fun setPower(p: Double): HoldableActuator

Instantaneously set the user input power for the actuator.

open fun withAutoPower(targetPower: Double): HoldableActuator

Set the auto response power magnitude of the actuator, where a positive value will bring the arm upwards (away from bottom).

withBottomSwitch

open fun withBottomSwitch(@Nullable bottomLimitSwitch: TouchSensor): HoldableActuator

Set the bottom limit switch of the actuator to use in homing and encoder awareness.

withEncoderLimits

open fun withEncoderLimits(minLimit: Long, maxLimit: Long): HoldableActuator

Set the encoder limits of the actuator.

withHomingPower

open fun withHomingPower(targetPower: Double): HoldableActuator

Set the homing power magnitude of the actuator, where a positive value will bring the arm upwards (away from bottom).

withHomingTimeout

open fun withHomingTimeout(@NonNull timeout: Measure<Time>): HoldableActuator

Set the timeout for the Home Task.

withHomingZeroHits

open fun withHomingZeroHits(threshold: Int): HoldableActuator

Set the zero hit threshold to how many greater than or equal to zero velocity hits are required for the Home Task.

open fun withLowerLimit(minLimit: Long): HoldableActuator

Set the lower limit of the actuator.

withLowerPowerClamp

open fun withLowerPowerClamp(lowerPower: Double): HoldableActuator

Set the lower power clamp of the actuator.

withMaxSteadyStateTime

open fun withMaxSteadyStateTime(@Nullable maxSteadyState: Measure<Time>): HoldableActuator

Defines a max amount of time that the system can be responding for.

withOvercurrent

open fun withOvercurrent(@NonNull current: Measure<Current>, @NonNull forTime: Measure<Time>): HoldableActuator

Set the overcurrent threshold used for stall detection.

withPowerClamps

open fun withPowerClamps(lowerPower: Double, upperPower: Double): HoldableActuator

Set the lower and upper power clamps of the actuator.

open fun withTolerance(tolerance: Int, applyToMotor: Boolean): HoldableActuator

Set the target tolerance of the actuator.

open fun withTopSwitch(@Nullable topLimitSwitch: TouchSensor): HoldableActuator

Set the top limit switch of the actuator to use in encoder awareness.

open fun withUpperLimit(maxLimit: Long): HoldableActuator

Set the upper limit of the actuator.

withUpperPowerClamp

open fun withUpperPowerClamp(upperPower: Double): HoldableActuator

Set the upper power clamp of the actuator.

withUserSetpointControl

open fun withUserSetpointControl(@Nullable setpointDeltaMul: UnaryFunction): HoldableActuator

Calling this method will enable the user input mode to instead adjust the setpoint dynamically, rather than unlocking the setpoint then relocking it when the mode transitions to holding.

Inherited functions

assertParamsNotNull

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.

cancelCurrentTask

fun cancelCurrentTask()

Cancel the current task immediately and return to the default task, if available.

infix fun BunyipsSubsystem.default(defaultTask: Task)

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

protected fun delegate(@NonNull child: BunyipsSubsystem)

Call to delegate the update of this subsystem, usually a component of another subsystem, to this subsystem.

Prevent a subsystem from running.

fun enable()

Re-enable a subsystem if it was previously disabled via a disable() call.

fun isDefaultName(): Boolean

fun isDisabled(): Boolean

fun isIdle(): Boolean

Determine if the subsystem is idle, meaning an IdleTask is running.

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.

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.

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.

open fun resetForOpMode()

Reset stored static instances of BunyipsSubsystem.

fun setDefaultTask(@NonNull defaultTask: Task)

Set the default task for this subsystem, which will be run when no other task is running.

setHighPriorityCurrentTask

fun setHighPriorityCurrentTask(@NonNull currentTask: Task)

Set the current task to the given task, overriding any current task.

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.

fun stopThread()

Call to stop delegating updates of this subsystem to a thread.

fun toString(): String

toVerboseString

fun toVerboseString(): String

fun update()

Update the subsystem and run the current task, if tasks are not set up this will just call periodic.

open fun updateAll()

Update all instances of BunyipsSubsystem that has been constructed since the last clearing.

fun <T : BunyipsSubsystem?> withName(@NonNull subsystemName: String): T

Set the name of this subsystem that will be used in telemetry and references.