BunyipsLib/org.murraybridgebunyips.bunyipslib/StartingPositions

StartingPositions

enum StartingPositions : Enum<StartingPositions>

Legacy enum for determining where the robot is starting on the field. This can be used to determine which autonomous path to take.

Note: This enum was designed around the 4 required starting positions as required by a Autonomous Randomisation task. In a season such as 2024-2025 INTO THE DEEP where these required positions are no longer required, the pose information as granted by these enum values may be inaccurate (as they are derived from CENTERSTAGE). However, this enum may still be used for differentiating between the relative position of robots in their alliance, but comes with no guarantee that the pose data will be valid. The pose property has been left mutable for advanced uses of this class in specific.

See the more flexible StartingConfiguration class for handling robot start pose against any position on the alliance wall.

Author

Lucas Bubner, 2024

Since

1.0.0-pre

Entries

STARTING_RED_LEFT

Represents a robot starting on the left side of the red alliance.

STARTING_RED_RIGHT

Represents a robot starting on the right side of the red alliance.

STARTING_BLUE_LEFT

Represents a robot starting on the left side of the blue alliance.

STARTING_BLUE_RIGHT

Represents a robot starting on the right side of the blue alliance.

Types

Companion

object Companion

Properties

entries

val entries: EnumEntries<StartingPositions>

Returns a representation of an immutable list of all enum entries, in the order they're declared.

isBlue

val isBlue: Boolean

Whether the starting position is on the blue alliance side of the field.

isLeft

val isLeft: Boolean

Whether the starting position is on the left side of the field.

isRed

val isRed: Boolean

Whether the starting position is on the red alliance side of the field.

isRight

val isRight: Boolean

Whether the starting position is on the right side of the field.

pose

var pose: Pose2d

The pose of the starting position. This is the position of the robot on the field when the match starts in the FTC Field Coordinate system (+ RoadRunner). The heading value is if the robot were to face inwards towards the field.

vector

val vector: Vector2d

The vector of the starting position with no heading information.

Inherited properties

name

val name: String

ordinal

val ordinal: Int

Functions

toStartingConfiguration

fun toStartingConfiguration(): StartingConfiguration.Position

Convert this starting position to a starting configuration.

toString

open override fun toString(): String

valueOf

fun valueOf(value: String): StartingPositions

Returns the enum constant of this type with the specified name. The string must match exactly an identifier used to declare an enum constant in this type. (Extraneous whitespace characters are not permitted.)

values

fun values(): Array<StartingPositions>

Returns an array containing the constants of this enum type, in the order they're declared.