BunyipsLib/org.murraybridgebunyips.bunyipslib.subsystems/Switch

Switch

open class Switch : Cannon

Alias for a Cannon, which is a generic servo switch. May be more intuitive to use this alias in some cases.

Since

1.0.0-pre

See also

Constructors

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constructor(servo: Servo, openPosition: Double, closePosition: Double)
Constructs a new Switch.
constructor(servo: Servo)
Constructs a new Switch with default open and close positions.

Types

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open inner class Tasks
Tasks for Switch, access with tasks.

Properties

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val tasks: Switch.Tasks
Tasks for Cannon.

Inherited properties

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@get:Nullable
open var currentTask: Task
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protected open var name: String
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protected val opMode: BunyipsOpMode
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val tasks: Cannon.Tasks
Tasks for Cannon.

Functions

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open fun close()
Close the switch.
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open fun isClosed(): Boolean
Query whether the switch is closed.
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open fun isOpen(): Boolean
Query whether the switch is open.
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open fun open()
Open the switch.

Inherited functions

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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.
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fun cancelCurrentTask()
Cancel the current task immediately and return to the default task, if available.
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fun disable()
Prevent a subsystem from running.
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fun enable()
Re-enable a subsystem if it was previously disabled via a disable() call.
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open fun fire(): Cannon
Fire in the hole!
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open fun isFired(): Boolean
Query if the cannon is fired.
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fun isIdle(): Boolean
Determine if the subsystem is idle, meaning an IdleTask is running.
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open fun isReset(): Boolean
Query if the cannon is reset.
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protected open fun onDisable()
User callback that runs once when this subsystem is disabled by a call to disable or by an assertion failure.
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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.
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protected open fun periodic()
To be updated periodically on every hardware loop.
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open fun reset(): Cannon
Reset the cannon to its initial position
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fun setDefaultTask(defaultTask: Task)
Set the default task for this subsystem, which will be run when no other task is running.
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fun setHighPriorityCurrentTask(currentTask: Task)
Set the current task to the given task, overriding any current task.
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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.
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fun stopThread()
Call to stop delegating updates of this subsystem to a thread.
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fun update()
Update the subsystem and run the current task, if tasks are not set up this will just call periodic.
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open fun updateAll()
Update all instances of BunyipsSubsystem that has been constructed since the last clearing.
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fun <T : BunyipsSubsystem?> withName(@NonNull subsystemName: String): T
Set the name of this subsystem that will be used in telemetry and references.