TurnTask

constructor(@NonNull drive: Moveable, @NonNull angle: Measure<Angle>, delta: Boolean)

Construct a new TurnTask that will turn the robot to the given angle.

drive

the drive instance to use, this subsystem will be automatically attached to the task if it is a BunyipsSubsystem

angle

the angle to turn to, if this is a delta angle this will be counter-clockwise

delta

if this angle is a delta from the current drive rotation at runtime

constructor(@NonNull powerIn: Consumer<PoseVelocity2d>, @NonNull poseEstimate: Supplier<Pose2d>, @NonNull angle: Measure<Angle>, delta: Boolean)

Construct a new TurnTask that will turn the robot to the given angle.

powerIn

the consumer to set the power of the robot, can ignore the x and y values if not needed

poseEstimate

the supplier to get the current pose of the robot, can ignore the x and y values if not needed

angle

the angle to turn to, if this is a delta angle this will be counter-clockwise

delta

if this angle is a delta from the current drive rotation at runtime

constructor(@NonNull drive: Moveable, @NonNull angle: Measure<Angle>)

Construct a new TurnTask that will turn the robot to the given global angle.

drive

the drive instance to use, this subsystem will be automatically attached to the task if it is a BunyipsSubsystem

angle

the angle to turn to in a global coordinate frame

constructor(@NonNull powerIn: Consumer<PoseVelocity2d>, @NonNull poseEstimate: Supplier<Pose2d>, @NonNull angle: Measure<Angle>)

Construct a new TurnTask that will turn the robot to the given global angle.

powerIn

the consumer to set the power of the robot, can ignore the x and y values if not needed

poseEstimate

the supplier to get the current pose of the robot, can ignore the x and y values if not needed

angle

the angle to turn to in a global coordinate frame