Package org.wildstang.framework.auto

Class AutoStep

java.lang.Object

org.wildstang.framework.auto.AutoStep

Direct Known Subclasses:

AutoParallelStepGroup, AutoSerialStepGroup, AutoStepDelay, AutoStepStopAutonomous, PathFollowerStep, PathHeadingStep, SetGyroStep, SwervePathFollowerStep

public abstract class AutoStep
extends java.lang.Object

Represents a single automated robot operation. When it's the step's turn, initialize() is run once, then update() is run until setFinished(true).

Constructor Summary

Constructors

Constructor	Description
AutoStep()	Set step to not finished.

Method Summary

Modifier and Type	Method	Description
abstract void	initialize()	This method is called once, when the step is first run.
boolean	isFinished()	Returns if the AutoStep is finished, meaning the next step may begin.
void	setFinished()	Completes the set by setting finished to true.
void	setFinished(boolean isFinished)	Do not use this function in new implementations.
abstract java.lang.String	toString()	Returns the name of the AutoStep, used to uniquely identify the step.
abstract void	update()	This method is called on the active step, once per call to RobotTemplate.autonomousPeriodic().

Methods inherited from class java.lang.Object

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

Constructor Detail

AutoStep

public AutoStep()

Set step to not finished. Constructing does not start step, rather prepares it for initialization.

Method Detail

initialize

public abstract void initialize()

This method is called once, when the step is first run. Use this method to set up anything that is necessary for the step.

update

public abstract void update()

This method is called on the active step, once per call to RobotTemplate.autonomousPeriodic(). Steps will continue to have this method called until they set finished to true. Note: this method is first called right after initialize(), with no delay in between.

isFinished

public boolean isFinished()

Returns if the AutoStep is finished, meaning the next step may begin.

Returns:

True if the step is finished.

setFinished

public void setFinished(boolean isFinished)

Do not use this function in new implementations. Previously setFinished took a boolean, but there is not case where setFinished(false) is a valid operation. This exists to allow it to still be called that way.

Parameters:

isFinished - Unused, finished is always set to true.

setFinished

public void setFinished()

Completes the set by setting finished to true.

toString

public abstract java.lang.String toString()

Returns the name of the AutoStep, used to uniquely identify the step.

Overrides:

toString in class java.lang.Object

Returns:

Name of the AutoStep.