Package trclib.command

Class CmdDriveMotorsTest

java.lang.Object

trclib.command.CmdDriveMotorsTest

All Implemented Interfaces:

TrcRobot.RobotCommand

public class CmdDriveMotorsTest
extends Object
implements TrcRobot.RobotCommand

This class implements the drive base motors test. This test will spin each of the drive base motors at the specified drive power for the specified period of time.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
private static enum	CmdDriveMotorsTest.State

Field Summary

Fields

Modifier and Type	Field	Description
private final TrcDashboard	dashboard
private final double	drivePower
private final double	driveTime
private final TrcEvent	event
private int	motorIndex
private final TrcMotor[]	motors
private final TrcStateMachine<CmdDriveMotorsTest.State>	sm
private final TrcTimer	timer
private final TrcDbgTrace	tracer

Constructor Summary

Constructors

Constructor	Description
CmdDriveMotorsTest(TrcMotor[] motors, double driveTime, double drivePower)	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.
private void	stopAllWheels()	This method stops all motors on the drive base.

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

motors

private final TrcMotor[] motors

driveTime

private final double driveTime

drivePower

private final double drivePower

event

private final TrcEvent event

timer

private final TrcTimer timer

sm

private final TrcStateMachine<CmdDriveMotorsTest.State> sm

motorIndex

private int motorIndex

Constructor Details

CmdDriveMotorsTest

public CmdDriveMotorsTest(TrcMotor[] motors,
 double driveTime,
 double drivePower)

Constructor: Create an instance of the object.

Parameters:

motors - specifies the array of motors on the drive base.

driveTime - specifies the amount of drive time in seconds.

drivePower - specifies the motor power.

Method Details

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.

stopAllWheels

private void stopAllWheels()

This method stops all motors on the drive base.