Package trclib.robotcore

Interface TrcRobot.RobotCommand

All Known Implementing Classes:
CmdDriveMotorsTest, CmdPidDrive, CmdPurePursuitDrive, CmdTimedDrive, CmdWaltzTurn
Enclosing class:
TrcRobot
public static interface TrcRobot.RobotCommand
This interface is used to implement a robot command. A robot command consists of a sequence of actions typically executed using a state machine. It can be used to implement an entire autonomous strategy or it can implement a subset of an autonomous strategy that can be reused as a common portion of multiple autonomous strategies. This helps to reduce code duplication and improves code maintenance.

  • Method Summary

    Modifier and Type
    Method
    Description
    void
    cancel()
    This method is called to cancel the RobotCommand prematurely.
    boolean
    cmdPeriodic(double elapsedTime)
    This method is call periodically to perform the robot command.
    boolean
    isActive()
    This method checks if the current RobotCommand is running.

  • Method Details

    • cmdPeriodic

      boolean cmdPeriodic(double elapsedTime)
      This method is call periodically to perform the robot command. Typically, it is implemented by using a state machine.
      Parameters:
      elapsedTime - specifies the elapsed time of the period in seconds.
      Returns:
      true if the command is done, false otherwise.

    • isActive

      boolean isActive()
      This method checks if the current RobotCommand is running.
      Returns:
      True if the command is running, false otherwise.

    • cancel

      void cancel()
      This method is called to cancel the RobotCommand prematurely.