actions/com.acmerobotics.roadrunner

Package-level declarations

Types

Action

fun interface Action

Concurrent task for cooperative multitasking with some FTC dashboard hooks. Actions may have mutable state.

InstantAction

class InstantAction(val f: InstantFunction) : Action

Instant action that executes f immediately.

InstantFunction

fun interface InstantFunction

NullAction

class NullAction : Action

Null action that does nothing.

ParallelAction

data class ParallelAction(val initialActions: List<Action>) : Action

Action combinator that executes the action group initialActions in parallel. Each call to run on this action calls run on every live child action in the order provided. Completed actions are removed from the rotation and do not prevent the completion of other actions. This action completes when all of initialActions have.

SequentialAction

data class SequentialAction(val initialActions: List<Action>) : Action

Action combinator that executes the action group initialActions in series. Each action is run one after the other. When an action completes, the next one is immediately run. This action completes when the last action completes.

SleepAction

data class SleepAction(val dt: Double) : Action

Primitive sleep action that stalls for dt seconds.

TimeTurn

class TimeTurn(val beginPose: Pose2d, val angle: Double, val constraints: TurnConstraints)

A time-indexed turn beginning at beginPose and rotating CCW angle radians subject to constraints.

TrajectoryActionBuilder

class TrajectoryActionBuilder

Builder that combines trajectories, turns, and other actions.

TrajectoryActionFactory

fun interface TrajectoryActionFactory

TurnActionFactory

fun interface TurnActionFactory

TurnConstraints

data class TurnConstraints(val maxAngVel: Double, val minAngAccel: Double, val maxAngAccel: Double)

Functions

now

fun now(): Double

Returns System.nanoTime in seconds.