HoldLastPoseTask

Convenience field to get a reference to a TelemetryPacket for sending telemetry to the dashboard. Available as soon as init has been called for this task.

Enabling will reject all future on calls. Useful for composing tasks that will internally re-schedule a wrapped Task.

Timeout value for an infinite task that will run forever.

Whether this task should override other tasks in the queue if they conflict with this task. Will only apply if this task has a dependency to run on (see dependency).

Maximum timeout of the task. If set to 0 magnitude (or a timeout-less constructor) this will serve as an indefinite task, and will only finish when isTaskFinished returns true, or this task is manually interrupted via finish/finishNow.

Compose this task into a SequentialTaskGroup with the supplied tasks to run before this one.

Utility to cast a task into the desired task class. Useful for ignoring task nullability to cast into a new type - ensure your task exists before calling.

Shorthand group utility for creating a DeadlineTaskGroup.

Constructor utility to create a new DeferredTask based on the supplied task builder.

Compose this task into a DeadlineTaskGroup with the supplied tasks to run these extra tasks until this task is done.

Scheduling method that will either attach this task to a subsystem or run it as part of the standard run method. This is the recommended way to run a task as it will attempt to run on the context as provided by the dependency.

Tell a task to finish on the next iteration of poll.

Force a task to finish immediately, and fire the onFinish method without waiting for the next polling loop.

Composes a ParallelTaskGroup with a WaitTask to run before this task. This will ensure the task runs for at least the specified time, and no-ops until the duration if it finishes early.

Convenience field to get a reference to a TelemetryPacket for sending telemetry to the dashboard. Available as soon as init has been called for this task.

Time since the task was started.

Get the subsystem reference that this task has elected a dependency on. Will return an Optional where if it is not present, this task is not dependent on any subsystem.

Shorthand group utility for creating a IncrementingTaskGroup.

Query (but not update) the finished state of the task. This will return true if the task is finished and the finisher has been fired.

Whether the task is currently running (i.e. has been started (init called) and not finished).

Return a boolean to this method to add custom criteria if a task should be considered finished.

Utility for creating a DynamicTask that will loop some function until the task is manually finished.

Creates a new DynamicTask instance by wrapping this existing Task instance, allowing you to add new functionality to a task without modifying the original task.

Set the name of this task to be displayed in the OpMode. You may override this method if required to enforce a naming convention/prefix. Null values are ignored.

Compose this task into a IncrementingTaskGroup with the supplied tasks to run the next task in sequence after the previous one finishes, while looping back to the first task.

Set the subsystem you want to elect this task to run on, notifying the runner that this task should run there.

Finalising function to run once the task is finished. This will always run regardless of whether the task was ended because of an interrupt or the task naturally finishing. Override to add your own callback.

Finalising function that will be called after onFinish in the event this task is finished via a call to finish or finishNow. Override to add your own callback.

Called when the task is resetting now. Override this method to add custom reset behaviour, such as resetting any internal state variables such as iterators or lists.

Shorthand group utility for creating a ParallelTaskGroup.

Update and query the state of the task if it is finished. This will return true if the task is fully completed with all callbacks processed.

RoadRunner Action implementation to preview the action on the field overlay. This method no-ops as previews are done via DualTelemetry and the Drawing util.

Compose this task into a RaceTaskGroup with the supplied tasks to run all of these tasks until one finishes.

Shorthand group utility for creating a RaceTaskGroup.

Wrap this task in a RepeatTask where finish conditions are reset immediately.

Reset a task to an uninitialised and unfinished state. Will no-op if the task is already fully reset.

Execute one cycle of this task. The finish condition is separately polled in the poll method.

RoadRunner Action implementation to run this Task.

Utility for creating a DynamicTask that will loop some function for some time.

Shorthand group utility for creating a SequentialTaskGroup.

Attempts to assign this task as the default task of the current dependency.

Convenience field to get a reference to a TelemetryPacket for sending telemetry to the dashboard. Available as soon as init has been called for this task.

Utility to create a new DynamicTask instance for building a new task.

Compose this task into a SequentialTaskGroup with the supplied tasks to follow after this one.

Set the timeout of this task dynamically and return the task. Null values are ignored.

Get the name of this task. By default, it will be the class simple name, but you can call named to set a custom name.

Get a verbose string representation of this task, including all of its properties.

Compose this task into a RaceTaskGroup with a wait condition based on this condition.

Utility for creating a DynamicTask that will wait for some condition and finish when the condition is true.

Compose this task into a ParallelTaskGroup with the supplied tasks to run all of these tasks at once.