Package trclib.command

Class CmdTimedDrive

java.lang.Object

trclib.command.CmdTimedDrive

All Implemented Interfaces:

TrcRobot.RobotCommand

public class CmdTimedDrive
extends Object
implements TrcRobot.RobotCommand

This class implements a generic timed drive command. The command drives the robot in the given direction for the given amount of time.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
private static enum	CmdTimedDrive.State

Field Summary

Fields

Modifier and Type	Field	Description
private final TrcDashboard	dashboard
private final double	delay
private final TrcDriveBase	driveBase
private final double	driveTime
private final TrcEvent	event
private final TrcStateMachine<CmdTimedDrive.State>	sm
private final TrcTimer	timer
private final TrcDbgTrace	tracer
private final double	turnPower
private final double	xDrivePower
private final double	yDrivePower

Constructor Summary

Constructors

Constructor	Description
CmdTimedDrive(TrcDriveBase driveBase, double delay, double driveTime, double xDrivePower, double yDrivePower, double turnPower)	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.

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

delay

private final double delay

driveTime

private final double driveTime

xDrivePower

private final double xDrivePower

yDrivePower

private final double yDrivePower

turnPower

private final double turnPower

event

private final TrcEvent event

timer

private final TrcTimer timer

sm

private final TrcStateMachine<CmdTimedDrive.State> sm

Constructor Details

CmdTimedDrive

public CmdTimedDrive(TrcDriveBase driveBase,
 double delay,
 double driveTime,
 double xDrivePower,
 double yDrivePower,
 double turnPower)

Constructor: Create an instance of the object.

Parameters:

driveBase - specifies the drive base object.

delay - specifies delay in seconds before timed drive starts. 0 means no delay.

driveTime - specifies the amount of drive time in seconds.

xDrivePower - specifies the motor power in the X direction.

yDrivePower - specifies the motor power in the Y direction.

turnPower - specifies the motor power for turning.

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.