BunyipsLib/au.edu.sa.mbhs.studentrobotics.bunyipslib.tasks/DriveToPoseTask

DriveToPoseTask

Drive to a pose using a localizer and PID-To-Point.

This is useful for pose alignment based on error, rather than using trajectories for planned motion. Designed and tested for Mecanum drivebases as RoadRunner was designed around them.

Author

Lucas Bubner, 2024

Since

3.3.0

Constructors

DriveToPoseTask

constructor(@NonNull targetPose: Pose2d, @NonNull driveInstance: Moveable)

Run the Drive To Pose Task on a drive instance.

Properties

DEFAULT_R_CONTROLLER

@NonNull

open var DEFAULT_R_CONTROLLER: SystemController

Default controller to use for the r (rotation) axis.

DEFAULT_X_CONTROLLER

@NonNull

open var DEFAULT_X_CONTROLLER: SystemController

Default controller to use for the x (forward) axis.

DEFAULT_Y_CONTROLLER

@NonNull

open var DEFAULT_Y_CONTROLLER: SystemController

Default controller to use for the y (strafe) axis.

Inherited properties

Companion

val Companion: Task.Companion

fieldOverlay

protected open var fieldOverlay: Canvas

Convenience field to get a reference to FtcDashboard's field overlay for drawing on the field. Available as soon as init has been called for this task.

INFINITE_TIMEOUT

val INFINITE_TIMEOUT: Measure<Time>

Timeout value for an infinite task that will run forever.

isPriority

open val isPriority: Boolean

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).

opMode

@Nullable

protected val opMode: BunyipsOpMode

Get a reference to the currently running BunyipsOpMode.

protected open var p: TelemetryPacket

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.

timeout

open var timeout: Measure<Time>

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.

Functions

init

protected open fun init()

Define code to run once, when the task is started.

isHeadingNear

open fun isHeadingNear(): Boolean

isTaskFinished

protected open fun isTaskFinished(): Boolean

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

isVectorNear

open fun isVectorNear(): Boolean

onFinish

protected open fun onFinish()

Finalising function to run once the task is finished.

periodic

protected open fun periodic()

To run as an active loop during this task's duration.

withMaxForwardSpeed

@NonNull

open fun withMaxForwardSpeed(speed: Double): DriveToPoseTask

Set the maximum forward (x) speed (motor power) that the robot can move at.

withMaxRotationSpeed

@NonNull

open fun withMaxRotationSpeed(speed: Double): DriveToPoseTask

Set the maximum rotation speed (motor power) that the robot can move at.

withMaxStrafeSpeed

@NonNull

open fun withMaxStrafeSpeed(speed: Double): DriveToPoseTask

Set the maximum strafe (y) speed (motor power) that the robot can move at.

withRController

@NonNull

open fun withRController(@NonNull r: SystemController): DriveToPoseTask

Sets the controller for the r (rotation) axis.

withTolerances

@NonNull

open fun withTolerances(@NonNull heading: Measure<Angle>, @NonNull translation: Measure<Distance>): DriveToPoseTask

Set the tolerances for the task.

withXController

@NonNull

open fun withXController(@NonNull x: SystemController): DriveToPoseTask

Sets the controller for the x (forward) axis.

withYController

@NonNull

open fun withYController(@NonNull y: SystemController): DriveToPoseTask

Sets the controller for the y (strafe) axis.

Inherited functions

after

fun after(otherTasks: Array<Task>): SequentialTaskGroup

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

defer

fun defer(taskBuilder: () -> out Task): DeferredTask

Utility to create a new DeferredTask based on the supplied task builder. Useful for constructing tasks that use data that is not available at the build time of the wrapped task.

during

fun during(otherTasks: Array<Task>): DeadlineTaskGroup

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

finish

fun finish()

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

finishNow

fun finishNow()

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

forAtLeast

fun forAtLeast(waitTime: Measure<Time>): ParallelTaskGroup

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.

getDeltaTime

fun getDeltaTime(): Measure<Time>

Time since the task was started.

getDependency

fun getDependency(): Optional<BunyipsSubsystem>

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.

getFieldOverlay

protected fun getFieldOverlay(): Canvas

Convenience field to get a reference to FtcDashboard's field overlay for drawing on the field. Available as soon as init has been called for this task.

getP

protected fun getP(): TelemetryPacket

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.

isFinished

fun isFinished(): Boolean

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.

isRunning

fun isRunning(): Boolean

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

named

open fun named(name: String): 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.

open fun on(subsystem: BunyipsSubsystem, override: Boolean): Task

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

onInterrupt

protected open fun onInterrupt()

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.

onReset

protected open fun onReset()

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.

opMode

protected fun opMode(@NonNull ifRunning: Consumer<BunyipsOpMode>)

Null check consumer for the opMode field which will no-op the given consumer if an active BunyipsOpMode is not present (i.e.

poll

fun poll(): Boolean

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.

preview

fun preview(fieldOverlay: Canvas)

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.

open fun preview(fieldOverlay: Canvas)

race

fun race(otherTasks: Array<Task>): RaceTaskGroup

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

repeatedly

fun repeatedly(): Task

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

require

@NonNull

protected fun require(@Nullable nullableOpMode: BunyipsOpMode): BunyipsOpMode

Null assertion for the opMode field which throws a NullPointerException if an active BunyipsOpMode is not present (i.e.

reset

fun reset()

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

run

fun run()

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

fun run(p: TelemetryPacket): Boolean

RoadRunner Action implementation to run this Task.

abstract fun run(p: TelemetryPacket): Boolean

abstract fun run()

setFieldOverlay

protected fun setFieldOverlay(<set-?>: Canvas)

Convenience field to get a reference to FtcDashboard's field overlay for drawing on the field. Available as soon as init has been called for this task.

setP

protected fun setP(<set-?>: TelemetryPacket)

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.

task

fun task(): DynamicTask

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

then

fun then(otherTasks: Array<Task>): SequentialTaskGroup

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

timeout

fun timeout(timeout: Measure<Time>): Task

Set the timeout of this task dynamically and return the task.

toString

fun toString(): String

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.

toVerboseString

fun toVerboseString(): String

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

until

fun until(condition: BooleanSupplier): RaceTaskGroup

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

with

fun with(otherTasks: Array<Task>): ParallelTaskGroup

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