Package trclib.archive

Class CmdWaltzTurn

java.lang.Object
trclib.archive.CmdWaltzTurn
All Implemented Interfaces:
TrcRobot.RobotCommand
public class CmdWaltzTurn extends Object implements TrcRobot.RobotCommand
This class implements a waltz turn command sequence. It is useful for avoiding a pushing match with our opponent. If our opponent is trying to engage a pushing match with us, the driver can push a button and cause the robot to pivot left or right 180 degrees and continue on with the robot driving in reverse.

  • Constructor Summary

    Constructors
    Constructor
    Description
    CmdWaltzTurn(TrcDriveBase driveBase, TrcPidDrive pidDrive)
    Constructor: Create an instance of the object.

  • Method Summary

    Modifier and Type
    Method
    Description
    void
    cancel()
    This method cancels the command if it is active.
    boolean
    cmdPeriodic(double elapsedTime)
    This method must be called periodically by the caller to drive the command sequence forward.
    boolean
    isActive()
    This method checks if the current RobotCommand is running.
    void
    start(boolean clockwiseTurn, boolean driveInverted)
    This method is called to start the command sequence doing a clockwise or counter-clockwise waltz turn.

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

  • Constructor Details

    • CmdWaltzTurn

      public CmdWaltzTurn(TrcDriveBase driveBase, TrcPidDrive pidDrive)
      Constructor: Create an instance of the object.
      Parameters:
      driveBase - specifies the drive base object.
      pidDrive - specifies the PID drive object to be used for PID controlled drive.

  • Method Details

    • start

      public void start(boolean clockwiseTurn, boolean driveInverted)
      This method is called to start the command sequence doing a clockwise or counter-clockwise waltz turn.
      Parameters:
      clockwiseTurn - specifies true for a clockwise turn, false for counter-clockwise turn.
      driveInverted - specifies the current inverted drive state of the robot.

    • isActive

      public boolean isActive()
      This method checks if the current RobotCommand is running.
      Specified by:
      isActive in interface TrcRobot.RobotCommand
      Returns:
      true if the command is running, false otherwise.

    • cancel

      public void cancel()
      This method cancels the command if it is active.
      Specified by:
      cancel in interface TrcRobot.RobotCommand

    • cmdPeriodic

      public boolean cmdPeriodic(double elapsedTime)
      This method must be called periodically by the caller to drive the command sequence forward.
      Specified by:
      cmdPeriodic in interface TrcRobot.RobotCommand
      Parameters:
      elapsedTime - specifies the elapsed time in seconds since the start of the robot mode.
      Returns:
      true if the command sequence is completed, false otherwise.