Package org.wildstang.framework.auto

Class AutoProgram

  • Direct Known Subclasses:
    Sleeper
    public abstract class AutoProgram
extends java.lang.Object
    Represents a collection of AutoSteps used for a single Autonomous period.

    • Constructor Summary

      Constructors 
      Constructor Description
      AutoProgram()  

    • Method Summary

      All Methods Instance Methods Abstract Methods Concrete Methods 
      Modifier and Type Method Description
      protected void addStep​(AutoStep newStep)
      Adds a new AutoStep to the AutoProgram.
      boolean areStepsDefined()
      Determines if the program's steps have been defined.
      void cleanup()
      Remove all steps from the AutoProgram
      protected abstract void defineSteps()
      Use this method to set the steps for this program.
      AutoStep getCurrentStep()
      Returns the current running AutoStep within the AutoProgram.
      AutoStep getNextStep()
      Returns the next AutoStep to run or null if at the last step.
      void initialize()
      Collects the defined steps and starts the auto program.
      boolean isFinished()
      Returns true if the AutoProgram is complete.
      protected void loadStopPosition()
      Adds an AutoStepStopAutonomous after a given AutoStep index from config.
      abstract java.lang.String toString()
      Returns the name of the AutoProgram.
      void update()
      Update the current running step and move on if necessary.

      • Methods inherited from class java.lang.Object

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

    • Field Detail

      • programSteps

        protected final java.util.List<AutoStep> programSteps

      • currentStep

        protected int currentStep

      • finishedPreviousStep

        protected boolean finishedPreviousStep

      • finished

        protected boolean finished

      • programStarted

        protected boolean programStarted

    • Constructor Detail

      • AutoProgram

        public AutoProgram()

    • Method Detail

      • defineSteps

        protected abstract void defineSteps()
        Use this method to set the steps for this program. Programs execute the steps in the array programSteps serially. Remember to clear everything before all of your steps are finished, because once they are, it immediately drops into Sleeper.

      • initialize

        public void initialize()
        Collects the defined steps and starts the auto program.

      • cleanup

        public void cleanup()
        Remove all steps from the AutoProgram

      • areStepsDefined

        public boolean areStepsDefined()
        Determines if the program's steps have been defined.
        Returns:
        Returns true if there are any steps.

      • update

        public void update()
        Update the current running step and move on if necessary.

      • getCurrentStep

        public AutoStep getCurrentStep()
        Returns the current running AutoStep within the AutoProgram.
        Returns:
        Current running AutoStep.

      • getNextStep

        public AutoStep getNextStep()
        Returns the next AutoStep to run or null if at the last step.
        Returns:
        Next AutoStep or null if no more steps.

      • loadStopPosition

        protected void loadStopPosition()
        Adds an AutoStepStopAutonomous after a given AutoStep index from config. This allows insertion of a force stop of autonomous into a program via config.

      • isFinished

        public boolean isFinished()
        Returns true if the AutoProgram is complete.
        Returns:
        True if the AutoProgram is complete.

      • addStep

        protected void addStep​(AutoStep newStep)
        Adds a new AutoStep to the AutoProgram.
        Parameters:
        newStep - New AutoStep to add.

      • toString

        public abstract java.lang.String toString()
        Returns the name of the AutoProgram.
        Overrides:
        toString in class java.lang.Object
        Returns:
        Name of the AutoProgram.