Package com.crossbotics.ftchelper.auto

Class PathEvent

java.lang.Object

com.crossbotics.ftchelper.auto.PathEvent

public final class PathEvent
extends Object

Something to do once while a path or a driveTo runs, when the robot gets to a place along it: "spin up the launcher 12 in before the end". The robot layer's PathAt makes these for you (PathAt.inchesLeft(12, "Spin up", robot.launcher::spinUp)); this is the plain form that AutoRoutine.followPath(String, PathJob, double, java.util.List) checks every loop.

• Each event fires once. Every loop the routine checks the events in the order you wrote them, so two that are reached in the same loop fire in that order.
• When the path gets to its end, every event that is reached at the end fires then (a path follower may stop a little short of the end: "1 in left" still fires).
• When the path ends early (timed out, STALLED, NO_ODOMETRY, cut short), the report lists the events that did not fire: To the goal: STALLED, not fired: Spin up.

Docs: docs/modules/pedro.md ("Do things along the path")

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static final class	PathEvent.Progress	Where the robot is along the path, worked out every loop (read-only).

Constructor Summary

Constructors

Constructor	Description
PathEvent(String name, Predicate<PathEvent.Progress> reached, Runnable action)

Method Summary

Modifier and Type	Method	Description
String	name()	The name given, for the report.

Methods inherited from class java.lang.Object

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

Constructor Details

PathEvent

public PathEvent(String name,
 Predicate<PathEvent.Progress> reached,
 Runnable action)

Parameters:

name - for the report, e.g. "Spin up"

reached - true once the robot is far enough along (checked every loop until it fires)

action - what to do, once (it must not wait: start things, like a run step)

Method Details

name

public String name()

The name given, for the report.