org.usfirst.frc.team1736.lib.AutoSequencer

Class AutoEvent

java.lang.Object

org.usfirst.frc.team1736.lib.AutoSequencer.AutoEvent

Direct Known Subclasses:

PathPlannerAutoEvent

public abstract class AutoEvent
extends java.lang.Object

AutoEvent is the abstract class which all things put onto the robot autonomous timeline must implement. For example, A path-planned motion profile is one type of event. Rotating in place, closed loop around a gyro is another type of event. Raising an arm is another type of event.

Events are fundamentally two types - parent events and child events. Parent events are the primary ones run by the sequencer. Any event that is added directly to the sequencer is a parent event. These events will be run in order, each one starting as soon as the previous one declares it is finished.

Child events are assigned to a parent event. While a parent event is running, each child event is evaluated individually to see if it is triggered (needs to start running) or stopped (needs to stop running). As soon as a child event reports it is triggered, at least once call to the child event's update() method is guaranteed. The child event will no longer be run once it declares itself as "done".

All events on the timeline must implement the functions defined here. Constructor is for performing all user-specific actions during sequencer setup. User update is the periodic update function which the sequencer will call as long as the event is active. isDone() signals the sequencer this event no longer needs to run, while isTriggered() is used for child events to signal they need to be run. Calculation of triggered/done conditions shoudl be performed within those methods. Do not rely upon update() to be called to evaluate those conditions. Finally, the forceStop method is required to be implemented - ordinarily, the event should return the robot to a safe state before declaring itself done. However, if the autonomous sequence is interrupted before the event has a chance to finish naturally, this function will be called to shut down the event properly. This means doing things like stopping motors or resetting counters, whatever floats your boat (safely).

Field Summary

Fields

Modifier and Type	Field and Description
java.util.ArrayList<AutoEvent>	childEvents
boolean	isRunning True when this event is active, false if not.
long	localUpdateCount Total number of times the update method has been called.

Constructor Summary

Constructors

Constructor and Description
AutoEvent()

Method Summary

Modifier and Type	Method and Description
void	addChildEvent(AutoEvent event_in) Assign a child event to this event.
void	forceStopAllChildren()
abstract boolean	isDone() Determine if this event has completed.
abstract boolean	isTriggered() Determine if this event needs updating.
abstract void	userForceStop() Perform all actions needed to restore robot to a safe state if the event is prematurely stopped.
abstract void	userStart() perform all actions needed at the start of the event
abstract void	userUpdate() Perform all actions needed during periodic update for this event

Methods inherited from class java.lang.Object

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

Field Detail

localUpdateCount

public long localUpdateCount

Total number of times the update method has been called. Incremented AFTER each update.

isRunning

public boolean isRunning

True when this event is active, false if not.

childEvents

public java.util.ArrayList<AutoEvent> childEvents

Constructor Detail

AutoEvent

public AutoEvent()

Method Detail

addChildEvent

public void addChildEvent(AutoEvent event_in)

Assign a child event to this event. Whenever this event is active, the child event will be checked for a trigger condition and will be updated in parallel with its parent event.

Parameters:

event_in - The new event to add

forceStopAllChildren

public void forceStopAllChildren()

userStart

public abstract void userStart()

perform all actions needed at the start of the event

userUpdate

public abstract void userUpdate()

Perform all actions needed during periodic update for this event

userForceStop

public abstract void userForceStop()

Perform all actions needed to restore robot to a safe state if the event is prematurely stopped.

isTriggered

public abstract boolean isTriggered()

Determine if this event needs updating. The first time isTriggered() returns true, the AutoSequencer begins updating this event.

Returns:

True if the trigger condition has been hit, false otherwise

isDone

public abstract boolean isDone()

Determine if this event has completed. Might be that total time has expired

Returns:

True if the event no longer needs updating, false otherwise.