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

Switch

A generic servo controller subsystem that may be used to hold two positions and to control movements in between these setpoints. This is similar to a DualServos subsystem but only controls a singular servo.

Author

Lucas Bubner, 2024

Since

5.1.0

Constructors

Switch

constructor(@Nullable servo: Servo, openPosition: Double, closePosition: Double)

Constructs a new Switch.

constructor(@Nullable servo: Servo)

Constructs a new Switch with default open and close positions.

Types

Tasks

open inner class Tasks

Tasks for Switch, access with tasks.

Properties

target

open val target: Double

tasks

val tasks: Switch.Tasks

Tasks for Switch.

Inherited properties

currentTask

@get:Nullable

open var currentTask: Task

name

@NonNull

protected open var name: String

Reference to the unmodified name of this subsystem.

opMode

@Nullable

protected val opMode: BunyipsOpMode

Get a reference to the currently running BunyipsOpMode.

Functions

@NonNull

open fun close(): Switch

Close the switch.

getPosition

open fun getPosition(): Double

isClosed

open fun isClosed(): Boolean

Query whether the switch is closed.

isOpen

open fun isOpen(): Boolean

Query whether the switch is open.

open

@NonNull

open fun open(): Switch

Open the switch.

periodic

protected open fun periodic()

To be updated periodically on every hardware loop.

setPosition

@NonNull

open fun setPosition(position: Double): Switch

Set a custom position that is clipped between the closed and open bounds.

setPositionUnclipped

@NonNull

open fun setPositionUnclipped(position: Double): Switch

Set a custom position that is not affected by the closed and open bounds.

toggle

@NonNull

open fun toggle(): Switch

Toggles the switch between the open and closed positions, moving to the closest position if the servo is not in one of the two open or closed positions.

withBounds

@NonNull

open fun withBounds(openPosition: Double, closePosition: Double): Switch

Set the new bounds this servo should respect for opened and closed positions.

withClosedBound

@NonNull

open fun withClosedBound(closePosition: Double): Switch

Set the new closed position.

withOpenBound

@NonNull

open fun withOpenBound(openPosition: Double): Switch

Set the new open position.

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.

default

infix fun BunyipsSubsystem.default(defaultTask: Task)

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

delegate

protected fun delegate(@NonNull child: BunyipsSubsystem)

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

disable

fun disable()

Prevent a subsystem from running.

enable

fun enable()

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

isDefaultName

fun isDefaultName(): Boolean

isDisabled

fun isDisabled(): Boolean

isIdle

fun isIdle(): Boolean

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

onDisable

protected open fun onDisable()

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

onEnable

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.

opMode

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.

require

@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.

resetForOpMode

open fun resetForOpMode()

Reset stored static instances of BunyipsSubsystem.

setDefaultTask

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.

startThread

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.

stopThread

fun stopThread()

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

toString

@NonNull

fun toString(): String

toVerboseString

@NonNull

fun toVerboseString(): String

update

fun update()

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

updateAll

open fun updateAll()

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

withName

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

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