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.

addTask

fun addTask(@NotNull runnable: Runnable)

Implicitly construct a new RunTask and add it to the run queue

fun addTask(@NotNull newTask: Task)

fun addTask(@NotNull newTask: Task, ack: Boolean)

Can be called to add custom Tasks in a robot's autonomous

fun addTask(@NotNull runnable: Runnable, name: String)

Implicitly construct a new RunTask and add it to the run queue with a custom name

addTaskAtIndex

fun addTaskAtIndex(index: Int, @NotNull runnable: Runnable)

fun addTaskAtIndex(index: Int, @NotNull newTask: Task)

Insert a task at a specific index in the queue.

addTaskFirst

fun addTaskFirst(@NotNull newTask: Task)

Add a task to the very start of the queue.

addTaskLast

fun addTaskLast(@NotNull newTask: Task)

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

disableHardwareStopOnFinish

open 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>, 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.

removeTask

fun removeTask(@NotNull task: Task)

Remove a task from the queue This assumes that the overhead OpMode has instance control over the task, as this method will search for an object reference to the task and remove it from the queue

removeTaskAtIndex

fun removeTaskAtIndex(taskIndex: Int)

Removes whatever task is at the given queue position Note: this will remove the index and shift all other tasks down, meaning that tasks being added/removed will affect the index of the task you want to remove

removeTaskFirst

fun removeTaskFirst()

Removes the first task in the task queue

removeTaskLast

fun removeTaskLast()

Removes the last task in the task 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.

useSubsystems

fun useSubsystems(subsystems: Array<BunyipsSubsystem>)

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

Inherited functions

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 open 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

abstract fun runOpMode()

open fun runOpMode()

Main OpMode thread method.

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