A generic task to get the position of a contour based on two (inferred three) positions, where the contour in question may be viewed in the two halves of the camera frame.

HolonomicDriveTask

open class HolonomicDriveTask : ForeverTask

Standard gamepad drive for all holonomic drivetrains.

HolonomicVectorDriveTask

open class HolonomicVectorDriveTask : ForeverTask

Gamepad drive for all holonomic drivetrains which will use a vector-based approach to drive.

IdleTask

open class IdleTask : ForeverTask

Task that runs forever but does nothing.

MessageTask

class MessageTask(time: Measure<Time>, message: String) : Task

Relay a message in telemetry for a specific amount of time.

MoveToAprilTagTask

open class MoveToAprilTagTask : Task

Task to move to and align to an AprilTag.

MoveToContourTask

open class MoveToContourTask : Task

Task to move to and align to a contour using the vision system.

RepeatTask

open class RepeatTask : ForeverTask

A task that will auto-reset and repeat itself after it is completed.

RunForTask

open class RunForTask : Task

A task to run for a timeout.

RunTask

open class RunTask : OnceTask

A task to run a callback before immediately completing.

SelectTask

open class SelectTask<T> : Task

Select a task to run based on a hashmap of states and a supplier of states.

StartEndTask

open class StartEndTask : Task

Define a callback to run when this task is started, and when it is finished.

TurnTask

open class TurnTask : Task

A simple task that turns the robot to a specific angle using a PIDF controller.

WaitTask

class WaitTask(time: Measure<Time>, showTelemetry: Boolean = false) : Task

Task to wait for a specific amount of time.

WaitUntilTask

open class WaitUntilTask : Task

A task that waits until a condition is true before finishing.