BunyipsLib/au.edu.sa.mbhs.studentrobotics.bunyipslib.tasks/HolonomicVectorDriveTask

HolonomicVectorDriveTask

open class HolonomicVectorDriveTask : ForeverTask

Gamepad drive for all holonomic drivetrains which will use a vector-based approach to drive. This task is designed to be used as a default/standard-priority task, other tasks will override it.

Compared to HolonomicDriveTask, this task will constantly track the (x,y,r) pose of the robot, rather than setting the powers directly from the gamepad inputs. When the translational/rotational components for these poses are zero, this task will take a snapshot of the values they were at, using PID controllers to attempt to stay in place. This allows for more predictable and consistent driving, as the robot will only accept movement when told to do so, ensuring that all movements of the robot can only be achieved via the controller.

This system can be comparable to one of a drone, where releasing the sticks and allowing it to hover will hold position and resist external forces. This locking nature has been implemented on the vector (translation) and heading components. Note that user input overrides all, where the x or y inputs will both unlock both translational axes to avoid corrections that could be dangerous. This caveat means that this task will make no effort to try and correct translational deviation when the robot is being commanded.

A localizer-attached holonomic drive is required for this class, as it will require the use of the pose estimate system.

Author

Lucas Bubner, 2024

Since

4.0.0

Constructors

HolonomicVectorDriveTask

constructor(@NonNull vel: Supplier<PoseVelocity2d>, @NonNull drive: Moveable, @NonNull fieldCentricEnabled: BooleanSupplier)

Constructor for HolonomicVectorDriveTask.

constructor(@NonNull vel: Supplier<PoseVelocity2d>, @NonNull drive: Moveable)

Constructor for HolonomicVectorDriveTask on an always disabled field-centric mode.

constructor(@NonNull driver: Gamepad, @NonNull drive: Moveable, @NonNull fieldCentricEnabled: BooleanSupplier)

Constructor for HolonomicVectorDriveTask using a default Mecanum binding.

constructor(@NonNull driver: Gamepad, @NonNull drive: Moveable)

Constructor for HolonomicVectorDriveTask using a default Mecanum binding.

Properties

DEFAULT_R_CONTROLLER

@NonNull

open var DEFAULT_R_CONTROLLER: SystemController

Default controller to use for the r (rotation) axis.

DEFAULT_X_CONTROLLER

@NonNull

open var DEFAULT_X_CONTROLLER: SystemController

Default controller to use for the x (forward) axis.

DEFAULT_Y_CONTROLLER

@NonNull

open var DEFAULT_Y_CONTROLLER: SystemController

Default controller to use for the y (strafe) axis.

Inherited properties

Companion

val Companion: Task.Companion

fieldOverlay

protected open var fieldOverlay: Canvas

Convenience field to get a reference to FtcDashboard's field overlay for drawing on the field. Available as soon as init() has been called for this task.

INFINITE_TIMEOUT

val INFINITE_TIMEOUT: Measure<Time>

Timeout value for an infinite task that will run forever.

opMode

@Nullable

protected val opMode: BunyipsOpMode

Get a reference to the currently running BunyipsOpMode.

protected open var p: TelemetryPacket

Convenience field to get a reference to a TelemetryPacket for sending telemetry to the dashboard. Available as soon as init() has been called for this task.

taskFinished

open val taskFinished: Boolean

Whether the task is finished or not via timeout or custom condition. Will be true regardless of the finisher being fired or not, as some tasks will handle this via finishNow().

timeout

open var timeout: Measure<Time>

Functions

init

protected open fun init()

Define code to run once, when the task is started.

onFinish

protected open fun onFinish()

Finalising function to run once the task is finished.

periodic

protected open fun periodic()

To run as an active loop during this task's duration.

resetFieldCentricOrigin

open fun resetFieldCentricOrigin(@NonNull drivePose: Pose2d)

Sets the origin angle for Field-Centric driving to the drive pose of the robot (effectively resetting the offset).

setFieldCentricOffset

open fun setFieldCentricOffset(@NonNull fcOffset: Measure<Angle>)

Sets an angle to use as the origin for Field-Centric driving.

setHeadingTarget

open fun setHeadingTarget(@NonNull heading: Measure<Angle>)

Set a manual heading that this task should lock to, much as if the robot were rotated to this position and is to try and hold rotation.

setVectorTarget

open fun setVectorTarget(@NonNull vectorInches: Vector2d)

Set a manual target that this task should lock to, much as if the robot was moved here and is to try and hold position here.

withRController

@NonNull

open fun withRController(@NonNull r: SystemController): HolonomicVectorDriveTask

Sets the controller for the r (rotation) axis.

withStabilisationTimeout

@NonNull

open fun withStabilisationTimeout(@NonNull lockTimeout: Measure<Time>): HolonomicVectorDriveTask

Set the pose stabilisation timeout before locking the pose vectors for correction.

withTolerance

@NonNull

open fun withTolerance(@NonNull inchRad: Pose2d): HolonomicVectorDriveTask

@NonNull

open fun withTolerance(@NonNull poseX: Measure<Distance>, @NonNull poseY: Measure<Distance>, @NonNull poseR: Measure<Angle>): HolonomicVectorDriveTask

Set the minimum pose error when in self-holding mode to activate correction for.

withXController

@NonNull

open fun withXController(@NonNull x: SystemController): HolonomicVectorDriveTask

Sets the controller for the x (forward) axis.

withYController

@NonNull

open fun withYController(@NonNull y: SystemController): HolonomicVectorDriveTask

Sets the controller for the y (strafe) axis.

Inherited functions

after

fun after(otherTasks: Array<Task>): SequentialTaskGroup

Compose this task into a SequentialTaskGroup with the supplied tasks to run before this one.

defer

fun defer(taskBuilder: () -> out Task): DynamicTask

Utility to create a new DynamicTask based on the supplied task builder. Useful for constructing tasks that use data that is not available at the build time of the wrapped task.

during

fun during(otherTasks: Array<Task>): DeadlineTaskGroup

Compose this task into a DeadlineTaskGroup with the supplied tasks to run these extra tasks until this task is done.

finish

fun finish()

Tell a task to finish on the next iteration.

finishNow

fun finishNow()

Force a task to finish immediately, and fire the onFinish() method without waiting for the next polling loop. This method is useful when your task needs to die and needs to finish up immediately. If your finisher has already been fired, this method will do nothing but ensure that the task is marked as finished.

forAtLeast

fun forAtLeast(waitTime: Measure<Time>): ParallelTaskGroup

Composes a ParallelTaskGroup with a WaitTask to run before this task. This will ensure the task runs for at least the specified time, and no-ops until the duration if it finishes early.

getDeltaTime

fun getDeltaTime(): Measure<Time>

Time in seconds since the task was started.

getDependency

fun getDependency(): Optional<BunyipsSubsystem>

Get the subsystem reference that this task has elected a dependency on. Will return an Optional where if it is not present, this task is not dependent on any subsystem.

getFieldOverlay

protected fun getFieldOverlay(): Canvas

Convenience field to get a reference to FtcDashboard's field overlay for drawing on the field. Available as soon as init() has been called for this task.

getP

protected fun getP(): TelemetryPacket

Convenience field to get a reference to a TelemetryPacket for sending telemetry to the dashboard. Available as soon as init() has been called for this task.

hasDependency

fun hasDependency(): Boolean

Return whether this task has elected a dependency on a subsystem or not.

isFinished

fun isFinished(): Boolean

Query (but not update) the finished state of the task. This will return true if the task is finished and the finisher has been fired.

isMuted

fun isMuted(): Boolean

isOverriding

fun isOverriding(): Boolean

isRunning

fun isRunning(): Boolean

isTaskFinished

protected fun isTaskFinished(): Boolean

Return a boolean to this method to add custom criteria if a task should be considered finished.

protected abstract fun isTaskFinished(): Boolean

Return a boolean to this method to add custom criteria if a task should be considered finished.

muteReports

fun muteReports(): Task

Mute task reports from the Scheduler.

named

fun named(name: String): Task

Set the name of this task to be displayed in the OpMode.

fun on(subsystem: BunyipsSubsystem): Task

Set the subsystem you want to elect this task to run on, notifying the runner that this task should run there. This task is scheduled with default override behaviour.

onInterrupt

protected open fun onInterrupt()

Finalising function that will be called after onFinish in the event this task is finished via a call to finish or finishNow. Override to add your own callback.

onReset

protected open fun onReset()

Called when the task is resetting now. Override this method to add custom reset behaviour, such as resetting any internal state variables such as iterators or lists.

onSubsystem

open fun onSubsystem(subsystem: BunyipsSubsystem, override: Boolean): Task

Set the subsystem you want to elect this task to run on, notifying the runner that this task should run there.

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.

pollFinished

fun pollFinished(): Boolean

Update and query the state of the task if it is finished. This will return true if the task is finished and the finisher has been fired.

preview

fun preview(fieldOverlay: Canvas)

RoadRunner Action implementation to preview the action on the field overlay. This method no-ops as previews are done via DualTelemetry and the Drawing util.

open fun preview(fieldOverlay: Canvas)

race

fun race(otherTasks: Array<Task>): RaceTaskGroup

Compose this task into a RaceTaskGroup with the supplied tasks to run all of these tasks until one finishes.

repeatedly

fun repeatedly(): Task

Wrap this task in a RepeatTask where finish conditions are reset immediately.

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.

reset

fun reset()

Reset a task to an uninitialised and unfinished state. Will no-op if the task is already fully reset.

run

fun run()

Should be called by your polling loop to run the task and manage all state properly.

fun run(p: TelemetryPacket): Boolean

RoadRunner Action implementation to run this Task.

abstract fun run(p: TelemetryPacket): Boolean

abstract fun run()

setFieldOverlay

protected fun setFieldOverlay(<set-?>: Canvas)

Convenience field to get a reference to FtcDashboard's field overlay for drawing on the field. Available as soon as init() has been called for this task.

setP

protected fun setP(<set-?>: TelemetryPacket)

Convenience field to get a reference to a TelemetryPacket for sending telemetry to the dashboard. Available as soon as init() has been called for this task.

then

fun then(otherTasks: Array<Task>): SequentialTaskGroup

Compose this task into a SequentialTaskGroup with the supplied tasks to follow after this one.

timeout

fun timeout(timeout: Measure<Time>): Task

Set the timeout of this task dynamically and return the task.

toString

fun toString(): String

Get the name of this task. By default, it will be the class simple name, but you can call withName to set a custom name.

toVerboseString

fun toVerboseString(): String

Get a verbose string representation of this task, including all of its properties.

until

fun until(condition: BooleanSupplier): RaceTaskGroup

Compose this task into a RaceTaskGroup with a WaitUntilTask based on this condition.

with

fun with(otherTasks: Array<Task>): ParallelTaskGroup

Compose this task into a ParallelTaskGroup with the supplied tasks to run all of these tasks at once.

withName

open fun withName(name: String): Task

Set the name of this task to be displayed in the OpMode. You may override this method if required to enforce a naming convention/prefix.

withTimeout

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

Set the timeout of this task dynamically and return the task.