BunyipsLib/au.edu.sa.mbhs.studentrobotics.bunyipslib/RobotConfig

RobotConfig

Abstract class to use as parent to the class you will define to mirror a "saved configuration" on the Robot Controller, and to define any robot related constants or subsystems. Supported for use in both BunyipsOpModes and any other normal SDK OpMode. This paradigm is known as RobotHardware.

    private final YourConfig config = new YourConfig();

In your OpMode's init method, call the init method of your config class, passing in the OpMode.

    config.init(this);

Author

Lucas Bubner, 2024

Since

1.0.0-pre

Constructors

RobotConfig

constructor()

Properties

hardwareMap

protected lateinit var hardwareMap: HardwareMap

OpMode supplied hardwareMap instance.

Functions

getHardware

@JvmOverloads

protected fun <T> getHardware(name: String, device: Class<T>, onSuccess: Consumer<T> = Consumer { }): T?

Convenience method for reading the device from the hardwareMap without having to check for exceptions. This method can be passed a Runnable to run if the device is successfully configured, useful for setting up directions or other configurations that will only run if the device was successfully found.

getLazyImu

@JvmOverloads

protected fun getLazyImu(name: String = "imu", orientationOnRobot: ImuOrientationOnRobot): LazyImu?

Returns a LazyImu instance to use with RoadRunner drives. The difference between a regular IMU and a LazyImu is that the LazyImu is auto-initialised only when it is required via the {@code get()} call.

init

fun init(): RobotConfig

Implicit OpMode config initialisation for use in BunyipsOpModes. This will not work in normal SDK OpModes.

fun init(opMode: OpMode): RobotConfig

Uses the HardwareMap to fetch HardwareDevices and assign instances from onRuntime. Should be called as the first line in your init cycle. This method can only be executed once.

onRuntime

protected abstract fun onRuntime()

This method is executed when the init method is called on this RobotConfig instance. In this method, you have access to the hardwareMap, as well as utility methods such as getHardware to retrieve and configure hardware. Devices and subsystems that you would like to expose should be listed as public fields in your config.