Set how fast the OpMode is able to loop in the activeLoop or onInitLoop methods in Loops per Time Unit. This will dynamically adjust to be the target speed of how fast loops should be executed. Measures of less than or equal to zero will be ignored, and the OpMode will run as fast as possible.

MS_BEFORE_FORCE_STOP_AFTER_STOP_REQUESTED

val MS_BEFORE_FORCE_STOP_AFTER_STOP_REQUESTED: Int = 900

msStuckDetectInit

open var msStuckDetectInit: Int

msStuckDetectInitLoop

open var msStuckDetectInitLoop: Int

msStuckDetectLoop

open var msStuckDetectLoop: Int

msStuckDetectStart

open var msStuckDetectStart: Int

msStuckDetectStop

open var msStuckDetectStop: Int

open var t: DualTelemetry

Shorthand field alias for the telemetry (DualTelemetry) field. Sometimes, this field is required to be used as the Kotlin compiler might have trouble distinguishing between the overridden field and the base field. This method is a direct alias to the DualTelemetry field.

telemetry

open var telemetry: DualTelemetry

BunyipsLib Driver Station & FtcDashboard Telemetry

time

open var time: Double

timer

open var timer: MovingAverageTimer

The moving average timer for the OpMode, which is used to calculate time between hardware cycles. This is useful for debugging, performance monitoring, and calculating various time-based values (deltaTime, loopCount, elapsedTime, etc.)

Functions

activeLoop

protected fun activeLoop()

Code to run continuously after the START button is pressed on the Driver Station.

add

fun <T : Task?> add(@NonNull newTask: T): T

Call to add Task instances that will be executed sequentially during the active loop.

fun <T : Task?> add(@NonNull runQueuePriority: AutonomousBunyipsOpMode.TaskPriority, @NonNull newTask: T): T

Add a task to the run queue at a specified run queue priority.

addAtIndex

fun <T : Task?> addAtIndex(index: Int, @NonNull newTask: T): T

Insert a task at a specific index in the queue.

@NonNull

fun addAtIndex(index: Int, @NonNull runnable: Runnable): RunTask

@NonNull

fun addAtIndex(index: Int, @NonNull name: String, @NonNull runnable: Runnable): RunTask

Insert an implicit RunTask at a specific index in the queue.

addFirst

fun <T : Task?> addFirst(@NonNull newTask: T): T

Add a task to the very start of the queue.

addLast

fun <T : Task?> addLast(@NonNull newTask: T): T

Add a task to the run queue, but after onReady has processed tasks.

defer

fun <T : Task?> defer(@NonNull newDynamicTask: Supplier<T>): T

Call to add Task instances that will be executed sequentially during the active loop.

fun <T : Task?> defer(@NonNull runQueuePriority: AutonomousBunyipsOpMode.TaskPriority, @NonNull newDynamicTask: Supplier<T>): T

Add a task to the run queue at a specified run queue priority.

deferAtIndex

fun <T : Task?> deferAtIndex(index: Int, @NonNull newDynamicTask: Supplier<T>): T

Insert a task at a specific index in the queue.

deferFirst

fun <T : Task?> deferFirst(@NonNull newDynamicTask: Supplier<T>): T

Add a task to the very start of the queue.

deferLast

fun <T : Task?> deferLast(@NonNull newDynamicTask: Supplier<T>): T

Add a task to the run queue, but after onReady has processed tasks.

disableHardwareStopOnFinish

fun disableHardwareStopOnFinish()

Call to disable the automatic stopping of the hardware when the OpMode finishes after no tasks are left.

onInit

protected fun onInit()

Runs upon the pressing of the INIT button on the Driver Station.

onInitialise

protected abstract fun onInitialise()

Runs upon the pressing of the INIT button on the Driver Station.

onInitLoop

protected fun onInitLoop(): Boolean

Use an init task if you wish to run looping code during the initialisation phase of the OpMode.

onReady

protected abstract fun onReady(@Nullable selectedOpMode: Reference<out Any>, @NonNull selectedButton: Controls)

Called when the OpMode is ready to process tasks.

onStart

protected open fun onStart()

Perform one time operations after start is pressed.

periodic

protected open fun periodic()

Override to this method to add extra code to the activeLoop, which will be run before the task queue is processed.

remove

fun remove(@NonNull task: Task)

Remove a task from the queue.

removeAtIndex

fun removeAtIndex(taskIndex: Int)

Removes whatever task is at the given queue position.

removeFirst

fun removeFirst()

Removes the first task in the task queue.

removeLast

fun removeLast()

Removes the last task in the task queue.

run

@NonNull

fun run(@NonNull runnable: Runnable): RunTask

@NonNull

fun run(@NonNull name: String, @NonNull runnable: Runnable): RunTask

Implicitly constructs a new RunTask to add to the run queue.

setOpModes

protected fun setOpModes(@Nullable selectableOpModes: Array<Any>)

protected fun setOpModes(@Nullable selectableOpModes: List<Any>)

Call to define your OpModeSelections, if you list any, then the user will be prompted to select an OpMode before the OpMode begins.

use

fun use(@NonNull subsystems: Array<BunyipsSubsystem>)

Call to manually add the subsystems that should be managed by AutonomousBunyipsOpMode.

wait

@NonNull

fun wait(@NonNull duration: Measure<Time>): WaitTask

@NonNull

fun wait(duration: Double, @NonNull unit: Time): WaitTask

Implicitly constructs a new WaitTask to add to the run queue.

Inherited functions

detachActiveLoopRunnables

fun detachActiveLoopRunnables(attachedRunnables: Array<Runnable>)

Removes a Runnable that was added to the active loop via onActiveLoop. Calling this method will no-op on runnables that can't be found on the currently attached runnables, and will stop executing runnables on the active loop that could be found.

emergencyStop

fun emergencyStop()

Dangerous method: call to IMMEDIATELY terminate the OpMode. No further code will run, and this should only be used in emergencies.

exit

fun exit()

Dangerous method: call to shut down the OpMode as soon as possible. This will run any BunyipsOpMode cleanup code, much as if the user pressed the STOP button.

finish

fun finish(safeHaltHardwareOnStop: Boolean)

Call to manually finish the OpMode.

getGamepad1

fun getGamepad1(): Controller

BunyipsLib Gamepad 1: Driver

getGamepad2

fun getGamepad2(): Controller

BunyipsLib Gamepad 2: Operator

getInitTask

fun getInitTask(): Optional<Runnable>

Get the currently respected init-task that will run during dynamic_init.

getInstance

fun getInstance(): BunyipsOpMode

The instance of the current BunyipsOpMode. This is set automatically by the BunyipsOpMode lifecycle. This can be used instead of dependency injection to access the current OpMode, as it is a singleton.

getRobotControllers

fun getRobotControllers(): List<LynxModule>

A list of all LynxModules (Control + Expansion Hub) modules on the robot.

getRuntime

open fun getRuntime(): Double

getT

fun getT(): DualTelemetry

getTelemetry

fun getTelemetry(): DualTelemetry

BunyipsLib Driver Station & FtcDashboard Telemetry

getTimer

fun getTimer(): MovingAverageTimer

halt

fun halt()

Call to temporarily halt all activeLoop-related updates from running. Note this will pause the entire activeLoop, but continue to update timers and telemetry. These events must be handled manually if needed, which include any conditional calls to resume.

idle

fun idle()

ifRunning

fun ifRunning(opModeConsumer: Consumer<BunyipsOpMode>)

Run the supplied callback if a BunyipsOpMode is currently running. This chains an internal call to BunyipsOpMode with a lambda supplied with the non-null instance of BunyipsOpMode.

init

fun init()

init_loop

fun init_loop()

internalPostInitLoop

open fun internalPostInitLoop()

internalPostLoop

open fun internalPostLoop()

internalPreInit

open fun internalPreInit()

internalUpdateTelemetryNow

fun internalUpdateTelemetryNow(telemetry: TelemetryMessage)

isRunning

fun isRunning(): Boolean

Whether a BunyipsOpMode is currently running. This is useful for checking if the OpMode singleton can be accessed without raising an exception due to the field being null.

isStopRequested

fun isStopRequested(): Boolean

loop

fun loop()

onActiveLoop

fun onActiveLoop(runnables: Array<Runnable>)

Add a Runnable to the list of runnables to be executed just before the activeLoop. This is useful for running code that needs to be executed on the main thread, but is not a subsystem or task.

onFinish

protected open fun onFinish()

Perform one time clean-up operations after the activeLoop finishes all intentions gracefully.

onInitDone

protected open fun onInitDone()

Allow code to execute once after all initialisation has finished.

onStop

protected open fun onStop()

Perform one time clean-up operations as the OpMode is stopping.

opModeInInit

fun opModeInInit(): Boolean

opModeIsActive

fun opModeIsActive(): Boolean

requestOpModeStop

fun requestOpModeStop()

resetRuntime

open fun resetRuntime()

resume

fun resume()

Call to resume the activeLoop after a halt call.

runBunyipsOpMode

protected abstract fun runBunyipsOpMode()

Main BunyipsOpMode executor method.

protected fun runBunyipsOpMode()

This method is the entry point for the BunyipsLib framework, and is called by the FTC SDK.

runOpMode

open fun runOpMode()

Main OpMode thread method.

abstract fun runOpMode()

safeHaltHardware

fun safeHaltHardware()

Dangerous method: Call to command all motors and servos on the robot to shut down. This is a method called by the SDK continuously when no OpMode is running. It is also automatically called via finish.

setGamepad1

fun setGamepad1(<set-?>: Controller)

BunyipsLib Gamepad 1: Driver

setGamepad2

fun setGamepad2(<set-?>: Controller)

BunyipsLib Gamepad 2: Operator

setInitTask

fun setInitTask(task: Runnable)

Set a task that will run as an init-task. This will run after your onInit has completed, allowing you to initialise hardware first. This is an optional method, and runs alongside onInitLoop.

setT

fun setT(<set-?>: DualTelemetry)

setTelemetry

fun setTelemetry(<set-?>: DualTelemetry)

BunyipsLib Driver Station & FtcDashboard Telemetry

setTimer

fun setTimer(<set-?>: MovingAverageTimer)

sleep

fun sleep(milliseconds: Long)

start

fun start()

stop