BunyipsLib/au.edu.sa.mbhs.studentrobotics.bunyipslib.executables/DebugMode

DebugMode

open class DebugMode : Runnable

A collection of BunyipsOpMode debug features intended for use in a testing environment, including a controller-based kill switch, robot pickup detection, and customisable auto-halt conditions.

Must be used in a BunyipsOpMode due to internal references.

Author

Lucas Bubner, 2024

Since

4.1.0

Constructors

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constructor()
Enable debug mode.

Types

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enum TriggerAction
Actions that can be executed on the event of a halting condition.

Properties

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open var ROBOT_PITCH_ROLL_THRESHOLD_DEGREES: Double
The threshold at which whenRobotRolled will trigger for the pitch and roll angles.

Functions

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open fun clearAction()
Clear the current action.
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@NonNull
open fun enable(): DebugMode
Construct a new instance of DebugMode.
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@NonNull
open fun getWatchdogs(): Array<Watchdog>
Get the added watchdogs via whenWatchdogExpires.
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open fun run()
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@NonNull
open fun trigger(@NonNull action: DebugMode.TriggerAction, @NonNull stopCondition: BooleanSupplier): DebugMode
Add a custom actionable condition.
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@NonNull
open fun whenGamepadKillSwitch(@NonNull action: DebugMode.TriggerAction): DebugMode
Utility to use a "killbind" where pressing the START and BACK buttons simultaneously on either gamepad runs the action.
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@NonNull
open fun whenRobotRolled(@NonNull imu: IMU, @NonNull action: DebugMode.TriggerAction): DebugMode
Utility to use the IMU to detect roll or pitch beyond ROBOT_PITCH_ROLL_THRESHOLD_DEGREES.
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@NonNull
open fun whenWatchdogExpires(@NonNull timeout: Measure<Time>, @NonNull action: DebugMode.TriggerAction): DebugMode
Create a new watchdog that can be updated via index through getWatchdogs.