BunyipsLib/au.edu.sa.mbhs.studentrobotics.bunyipslib/Scheduler

Scheduler

object Scheduler

Command-based paradigm scheduler and task plexus for BunyipsLib in TeleOp. This is a singleton used to schedule and run tasks.

Designed to mirror the WPILib command scheduler. Implementations must call update periodically.

It is recommended to use the following static imports with the Scheduler:

import static au.edu.sa.mbhs.studentrobotics.bunyipslib.Scheduler.*;
import static au.edu.sa.mbhs.studentrobotics.bunyipslib.transforms.Controls.*;
import static au.edu.sa.mbhs.studentrobotics.bunyipslib.transforms.Controls.Analog.*;
import static au.edu.sa.mbhs.studentrobotics.bunyipslib.tasks.bases.Task.*;

Author

Lucas Bubner, 2025

Since

8.0.0

Types

class GamepadTrigger(user: GamepadUser, val instance: Gamepad)

Button or axis binding creator.

class ScheduledTask(val task: Task, val trigger: Scheduler.Trigger, val binding: BiConsumer<Boolean, Boolean>)

A bound task that will schedule on the given binding, accepting the previous state of the trigger and current state of the trigger.

class Trigger(val condition: BooleanSupplier) : Condition<Scheduler.Trigger>

A condition that will link to and execute some Task.

Properties

val activeTasks: LinkedHashSet<Task>

Tasks currently being executed by the Scheduler.

var subsystems: HashSet<BunyipsSubsystem>

Subsystems managed by the Scheduler.

Functions

Disables ability to call update.

fun enable()

Resumes ability to call update.

fun finishAll()

Calls finish on and clears all current activeTasks.

fun gamepad1(): Scheduler.GamepadTrigger

Creates a button or axis trigger binder to create a Trigger for gamepad1.

fun gamepad2(): Scheduler.GamepadTrigger

Creates a button or axis trigger binder to create a Trigger for gamepad2.

fun mute()

Mutes Scheduler telemetry.

infix fun on(condition: BooleanSupplier): Scheduler.Trigger

Creates a Trigger for the boolean condition.

fun schedule(task: Task)

Independently schedules a task to execute.

fun unbind(id: Int)

Unbinds a scheduled task by the id.

fun unmute()

Unmutes Scheduler telemetry.

fun update()

Updates subsystems, runs bindings, and schedules and executes tasks.

fun use(vararg subsystems: BunyipsSubsystem)

Use a specific subset of subsystems for the Scheduler.