BunyipsLib/org.murraybridgebunyips.bunyipslib.subsystems/HoldableActuator

HoldableActuator

open class HoldableActuator : BunyipsSubsystem

Controls a generic holdable motor, that may be actuated by a user's input but will hold its position when the input is released.

Author

Lucas Bubner, 2024

Since

1.0.0-pre

Constructors

HoldableActuator

constructor(motor: DcMotor)

Create a new HoldableActuator.

Types

open inner class Tasks

Tasks for HoldableActuator, access with tasks.

Properties

val tasks: HoldableActuator.Tasks

Tasks for HoldableActuator.

Inherited properties

open var currentTask: Task

protected open var name: String

protected val opMode: BunyipsOpMode

Functions

disableHomingOvercurrent

open fun disableHomingOvercurrent(): HoldableActuator

Disable the overcurrent threshold for the Home Task.

disableHomingTimeout

open fun disableHomingTimeout(): HoldableActuator

Disable the timeout for the Home Task.

disableHomingZeroHits

open fun disableHomingZeroHits(): HoldableActuator

Disable the zero hit threshold for the Home Task.

protected open fun onDisable()

User callback that runs once when this subsystem is disabled by a call to disable or by an assertion failure.

protected open fun periodic()

To be updated periodically on every hardware loop.

open fun setPower(p: Double): HoldableActuator

Instantaneously set the user input power for the actuator.

withBottomSwitch

open fun withBottomSwitch(bottomLimitSwitch: TouchSensor): HoldableActuator

Set the bottom limit switch of the actuator to use in homing and encoder awareness.

withEncoderLimits

open fun withEncoderLimits(minLimit: Long, maxLimit: Long): HoldableActuator

Set the encoder limits of the actuator.

withHoldingPower

open fun withHoldingPower(targetPower: Double): HoldableActuator

Set the holding power of the actuator.

withHomingOvercurrent

open fun withHomingOvercurrent(current: Measure<Current>, forTime: Measure<Time>): HoldableActuator

Set the overcurrent threshold for the Home Task.

withHomingTimeout

open fun withHomingTimeout(timeout: Measure<Time>): HoldableActuator

Set the timeout for the Home Task.

withHomingZeroHits

open fun withHomingZeroHits(threshold: Int): HoldableActuator

Set the zero hit threshold to how many greater than or equal to zero velocity hits are required for the Home Task.

open fun withLowerLimit(minLimit: Long): HoldableActuator

Set the lower limit of the actuator.

withLowerPowerClamp

open fun withLowerPowerClamp(lowerPower: Double): HoldableActuator

Set the lower power clamp of the actuator.

withMovingPower

open fun withMovingPower(targetPower: Double): HoldableActuator

Set the moving power of the actuator, where a positive value will bring the arm upwards (away from bottom).

withPowerClamps

open fun withPowerClamps(lowerPower: Double, upperPower: Double): HoldableActuator

Set the lower and upper power clamps of the actuator.

open fun withTolerance(tolerance: Int, applyToMotor: Boolean): HoldableActuator

Set the target tolerance of the actuator.

open fun withTopSwitch(topLimitSwitch: TouchSensor): HoldableActuator

Set the top limit switch of the actuator to use in encoder awareness.

open fun withUpperLimit(maxLimit: Long): HoldableActuator

Set the upper limit of the actuator.

withUpperPowerClamp

open fun withUpperPowerClamp(upperPower: Double): HoldableActuator

Set the upper power clamp of the actuator.

Inherited functions

assertParamsNotNull

protected fun assertParamsNotNull(parameters: Array<Any>): Boolean

Utility function to run NullSafety.assertComponentArgs() on the given parameters, usually on the motors/hardware/critical objects passed into the constructor.

cancelCurrentTask

fun cancelCurrentTask()

Cancel the current task immediately and return to the default task, if available.

Prevent a subsystem from running.

fun enable()

Re-enable a subsystem if it was previously disabled via a disable() call.

fun isDefaultName(): Boolean

fun isDisabled(): Boolean

fun isIdle(): Boolean

Determine if the subsystem is idle, meaning an IdleTask is running.

protected open fun onEnable()

User callback that runs once when this subsystem is enabled by a call to enable or the first active call to periodic.

fun setDefaultTask(defaultTask: Task)

Set the default task for this subsystem, which will be run when no other task is running.

setHighPriorityCurrentTask

fun setHighPriorityCurrentTask(currentTask: Task)

Set the current task to the given task, overriding any current task.

fun startThread()

fun startThread(loopSleepDuration: Measure<Time>)

Call to delegate all updates of this subsystem to a thread that will begin execution on this method call.

fun stopThread()

Call to stop delegating updates of this subsystem to a thread.

fun toString(): String

toVerboseString

fun toVerboseString(): String

fun update()

Update the subsystem and run the current task, if tasks are not set up this will just call periodic.

open fun updateAll()

Update all instances of BunyipsSubsystem that has been constructed since the last clearing.

fun <T : BunyipsSubsystem?> withName(@NonNull subsystemName: String): T

Set the name of this subsystem that will be used in telemetry and references.