Package org.hyperonline.hyperlib.auto

Class AutonomousRoutine

  • All Implemented Interfaces:
    edu.wpi.first.wpilibj.Sendable, java.lang.AutoCloseable
    public abstract class AutonomousRoutine
extends edu.wpi.first.wpilibj.SendableBase
    The AutonomousRoutine class contains all the information needed for a particular autonomous routine. It contains the code to build the command, as well as information about what preferences need to be set, and what other routines may be called as subroutines. Logic for deciding which routine should be placed in the AutonomousStrategy class.

    • Field Summary

      Fields 
      Modifier and Type Field Description
      static java.lang.String UNNAMED  

    • Constructor Summary

      Constructors 
      Constructor Description
      AutonomousRoutine()
      Construct a new AutonomousRoutine.

    • Method Summary

      All Methods Instance Methods Abstract Methods Concrete Methods 
      Modifier and Type Method Description
      protected DoublePreference addDoublePreference​(java.lang.String name)
      Add a preference of type double to the routine.
      protected AutonomousRoutine addSubroutine​(AutonomousRoutine routine)
      Indicate that another routine is a subroutine of this one.
      abstract void build​(CommandBuilder builder)
      Abstract method for implementing the actual logic of the command.
      boolean equals​(java.lang.Object other)
      Two AutonomousRoutines are considered to be equal if they have the same name, with the exception that two unnamed routines are equivalent iff they occupy the same memory location.
      java.util.List<AutonomousRoutine> getSubroutines()
      Get a list of all routines which are included as subroutines in this routine.
      java.util.List<AutonomousPreference> getSupportedPreferences()
      Get a list of the preferences that this routine requires.
      int hashCode()  
      void initSendable​(edu.wpi.first.wpilibj.smartdashboard.SendableBuilder builder)

      • Methods inherited from class edu.wpi.first.wpilibj.SendableBase

        addChild, close, free, getName, getSubsystem, setName, setName, setName, setSubsystem

      • Methods inherited from class java.lang.Object

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

      • Methods inherited from interface edu.wpi.first.wpilibj.Sendable

        setName

    • Constructor Detail

      • AutonomousRoutine

        public AutonomousRoutine()
        Construct a new AutonomousRoutine.

    • Method Detail

      • build

        public abstract void build​(CommandBuilder builder)
        Abstract method for implementing the actual logic of the command. Ideally, this would use the preferences and subroutines that have already been declared.
        Parameters:
        builder - The CommandBuilder object to use in building the command.

      • getSupportedPreferences

        public java.util.List<AutonomousPreference> getSupportedPreferences()
        Get a list of the preferences that this routine requires.
        Returns:
        A list of AutonomousPreference objects

      • addDoublePreference

        protected DoublePreference addDoublePreference​(java.lang.String name)
        Add a preference of type double to the routine.
        Parameters:
        name - The name of the preference
        Returns:
        {DoublePreference}

      • addSubroutine

        protected AutonomousRoutine addSubroutine​(AutonomousRoutine routine)
        Indicate that another routine is a subroutine of this one. This does not affect the execution of code, but is used to display preferences to the driver station. Adding two subroutines with the same name has no effect.
        Parameters:
        routine - The subroutine to add.
        Returns:
        {AutonomousRoutine}

      • getSubroutines

        public java.util.List<AutonomousRoutine> getSubroutines()
        Get a list of all routines which are included as subroutines in this routine.
        Returns:
        A list of AutonomousRoutine objects

      • initSendable

        public void initSendable​(edu.wpi.first.wpilibj.smartdashboard.SendableBuilder builder)

      • equals

        public boolean equals​(java.lang.Object other)
        Two AutonomousRoutines are considered to be equal if they have the same name, with the exception that two unnamed routines are equivalent iff they occupy the same memory location.
        Overrides:
        equals in class java.lang.Object