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

HoldableActuator

open class HoldableActuator : BunyipsSubsystem

Controls a generic encoder motor that can be controlled through various means and commanded to hold a position.

Author

Lucas Bubner, 2024

Since

1.0.0-pre

Constructors

HoldableActuator

constructor(@Nullable motor: DcMotor)

Create a new HoldableActuator.

Types

BidirectionalHomingTask

open inner class BidirectionalHomingTask : Task

Standard homing task that moves the motor in a direction until it hits a hard stop, the velocity becomes too slow, or overcurrent is detected for a period of time.

Tasks

open inner class Tasks

Tasks for HoldableActuator, access with tasks.

Properties

tasks

val tasks: HoldableActuator.Tasks

Tasks for HoldableActuator.

Inherited properties

currentTask

@get:Nullable

open var currentTask: Task

name

@NonNull

protected open var name: String

Reference to the user-defined or default name of this subsystem.

Functions

disableHomingTimeout

@NonNull

open fun disableHomingTimeout(): HoldableActuator

Disable the timeout for the Home Task.

disableHomingZeroVelocityDuration

@NonNull

open fun disableHomingZeroVelocityDuration(): HoldableActuator

Disable the zero velocity duration used for the Home Task.

disableMaxSteadyStateTime

@NonNull

open fun disableMaxSteadyStateTime(): HoldableActuator

Disable the max steady state timer.

disableOvercurrent

@NonNull

open fun disableOvercurrent(): HoldableActuator

Disable the overcurrent threshold for stall detection.

disableUserSetpointControl

@NonNull

open fun disableUserSetpointControl(): HoldableActuator

Calling this method will restore the user input functionality translating into direct power on the motor.

getMappedPosition

@Nullable

open fun getMappedPosition(@Nullable switchSensor: TouchSensor): Integer

Get the mapped position of a limit switch.

map

@NonNull

open fun map(@Nullable switchSensor: TouchSensor, position: Int): HoldableActuator

Map a limit switch to a position on the actuator, which will update the current encoder reading to the position of the switch when pressed.

onDisable

protected open fun onDisable()

User callback that runs once when this subsystem is disabled by a call to disable or by an assertion failure.

onEnable

protected open fun onEnable()

User callback that runs once when this subsystem is enabled by a call to enable or the first active call to periodic.

periodic

protected open fun periodic()

To be updated periodically on every hardware loop.

setPower

@NonNull

open fun setPower(p: Double): HoldableActuator

Instantaneously set the user input power for the actuator.

withAutoPower

@NonNull

open fun withAutoPower(targetPower: Double): HoldableActuator

Set the auto response power magnitude of the actuator.

withBottomSwitch

@NonNull

open fun withBottomSwitch(@Nullable bottomLimitSwitch: TouchSensor): HoldableActuator

Set the bottom limit switch of the actuator to use in homing and encoder awareness.

withEncoderLimits

@NonNull

open fun withEncoderLimits(minLimit: Long, maxLimit: Long): HoldableActuator

Set the encoder limits of the actuator.

withHomingPower

@NonNull

open fun withHomingPower(targetPower: Double): HoldableActuator

Set the homing power magnitude of the actuator.

withHomingTimeout

@NonNull

open fun withHomingTimeout(@NonNull timeout: Measure<Time>): HoldableActuator

Set the timeout for the Home Task.

withHomingZeroVelocityDuration

@NonNull

open fun withHomingZeroVelocityDuration(threshold: Measure<Time>): HoldableActuator

Set the zero/negative velocity duration required for the Home Task to finish automatically.

withLowerLimit

@NonNull

open fun withLowerLimit(minLimit: Long): HoldableActuator

Set the lower limit of the actuator.

withLowerPowerClamp

@NonNull

open fun withLowerPowerClamp(lowerPower: Double): HoldableActuator

Set the lower power clamp of the actuator.

withMaxSteadyStateTime

@NonNull

open fun withMaxSteadyStateTime(@Nullable maxSteadyState: Measure<Time>): HoldableActuator

Defines a max amount of time that the system can be responding for.

withOvercurrent

@NonNull

open fun withOvercurrent(@NonNull current: Measure<Current>, @NonNull forTime: Measure<Time>): HoldableActuator

Set the overcurrent threshold used for stall detection.

withPowerClamps

@NonNull

open fun withPowerClamps(lowerPower: Double, upperPower: Double): HoldableActuator

Set the lower and upper power clamps of the actuator.

withTolerance

@NonNull

open fun withTolerance(tolerance: Int): HoldableActuator

Set the target tolerance of the actuator.

withTopSwitch

@NonNull

open fun withTopSwitch(@Nullable topLimitSwitch: TouchSensor): HoldableActuator

Set the top limit switch of the actuator to use in encoder awareness and the ceiling task.

withUpperLimit

@NonNull

open fun withUpperLimit(maxLimit: Long): HoldableActuator

Set the upper limit of the actuator.

withUpperPowerClamp

@NonNull

open fun withUpperPowerClamp(upperPower: Double): HoldableActuator

Set the upper power clamp of the actuator.

withUserSetpointControl

@NonNull

open fun withUserSetpointControl(@Nullable setpointDeltaMul: UnaryFunction): HoldableActuator

Calling this method will enable the user input mode to instead adjust the setpoint dynamically, rather than unlocking the setpoint then relocking it when the mode transitions to holding.

Inherited functions

assertParamsNotNull

protected fun assertParamsNotNull(parameters: Array<Any>): Boolean

Utility function to run NullSafety.assertComponentArgs() on the given parameters, usually on the motors/hardware/critical objects passed into the constructor.

cancelCurrentTask

fun cancelCurrentTask()

Cancel the current task immediately and return to the default task, if available.

default

infix fun BunyipsSubsystem.default(defaultTask: Task)

Default task setter extension for BunyipsSubsystem to set the default task of a subsystem.

delegate

protected fun delegate(@NonNull child: BunyipsSubsystem)

Call to delegate the update of this subsystem, usually a component of another subsystem, to this subsystem.

disable

fun disable()

Prevent a subsystem from running.

disableAll

open fun disableAll()

Disable all BunyipsSubsystem instances that has been constructed since the last clearing.

enable

fun enable()

Re-enable a subsystem if it was previously disabled via a disable call.

enableAll

open fun enableAll()

Enable all BunyipsSubsystem instances that has been constructed since the last clearing.

forThisSubsystem

@NonNull

protected fun forThisSubsystem(@NonNull name: Any): String

Formats a task name to follow the convention full_name:task.

isDefaultName

fun isDefaultName(): Boolean

isDisabled

fun isDisabled(): Boolean

isIdle

fun isIdle(): Boolean

Determine if the subsystem is idle, meaning an IdleTask (or no task) is running.

isRunningDefaultTask

fun isRunningDefaultTask(): Boolean

Determine if the subsystem is running the default task.

setDefaultTask

fun setDefaultTask(@NonNull defaultTask: Task)

Set the default task for this subsystem, which will be run when no other task is running.

setHighPriorityCurrentTask

fun setHighPriorityCurrentTask(@NonNull currentTask: Task)

Set the current task to the given task, overriding any current task.

sout

protected fun sout(@NonNull logger: Consumer<String>, @NonNull format: String, @Nullable objs: Array<Any>)

Log to Logcat using smart formatting with the current subsystem name.

startThread

fun startThread()

fun startThread(@NonNull loopSleepDuration: Measure<Time>)

Call to delegate all updates of this subsystem to a thread that will begin execution on this method call.

stopThread

fun stopThread()

Call to stop delegating updates of this subsystem to a thread.

toString

@NonNull

fun toString(): String

toVerboseString

@NonNull

fun toVerboseString(): String

update

fun update()

Update the subsystem and run the current task, if tasks are not set up this will just call periodic.

updateAll

open fun updateAll()

Update all instances of BunyipsSubsystem that has been constructed since the last clearing.

withName

fun <T : BunyipsSubsystem?> withName(@NonNull subsystemName: String): T

Set the name of this subsystem that will be used in telemetry and references.