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.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
private static enum	CmdWaltzTurn.State

Field Summary

Fields

Modifier and Type	Field	Description
private boolean	clockwiseTurn
private final TrcDashboard	dashboard
private final TrcDriveBase	driveBase
private boolean	driveInverted
private final TrcEvent	event
private final TrcPidDrive	pidDrive
private TrcPidDrive.TurnMode	prevTurnMode
private final TrcStateMachine<CmdWaltzTurn.State>	sm
private final TrcDbgTrace	tracer

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

Field Details

dashboard

private final TrcDashboard dashboard

tracer

private final TrcDbgTrace tracer

driveBase

private final TrcDriveBase driveBase

pidDrive

private final TrcPidDrive pidDrive

event

private final TrcEvent event

sm

private final TrcStateMachine<CmdWaltzTurn.State> sm

prevTurnMode

private TrcPidDrive.TurnMode prevTurnMode

clockwiseTurn

private boolean clockwiseTurn

driveInverted

private boolean driveInverted

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.