BunyipsLib/au.edu.sa.mbhs.studentrobotics.bunyipslib.subsystems/HoldableActuator/Tasks

Tasks

open inner class Tasks

Tasks for HoldableActuator, access with tasks.

Constructors

Tasks

constructor()

Functions

ceil

@NonNull

open fun ceil(): Task

Send the actuator to the top limit, using the constants for homing.

control

@NonNull

open fun control(@NonNull powerSupplier: DoubleSupplier): Task

Controls the actuator with a supplier of power.

delta

@NonNull

open fun delta(deltaPosition: Int): Task

Commands the actuator to go to a particular encoder position as an offset of the current position when this task is executed.

deltaProfiled

@NonNull

open fun deltaProfiled(deltaPosition: Int): Task

Commands the actuator to go to a particular encoder position as an offset of the current position when this task is executed.

goTo

@NonNull

open fun goTo(@NonNull limitSwitch: TouchSensor): Task

Set the position of the actuator based on a mapped limit switch.

@NonNull

open fun goTo(targetPosition: Int): Task

Commands the actuator to go to a particular encoder tick reading by advancing or retreating the motor.

goToProfiled

@NonNull

open fun goToProfiled(@NonNull limitSwitch: TouchSensor): Task

Set the position of the actuator based on a mapped limit switch.

@NonNull

open fun goToProfiled(targetPosition: Int): Task

Commands the actuator to go to a particular encoder tick reading by advancing or retreating the motor.

home

@NonNull

open fun home(): Task

Home the actuator based on encoders against a hard stop or limit switch.

run

@NonNull

open fun run(power: Double): Task

Continuously commands the actuator to control with this power value.

runFor

@NonNull

open fun runFor(@NonNull time: Measure<Time>, pwr: Double): Task

Run the actuator for a certain amount of time using raw power.

setPower

@NonNull

open fun setPower(pwr: Double): Task

Instantly set the power of the actuator.