Interface Check

All Known Implementing Classes:
AutoStartCheck, BatteryCheck, CameraHeadingCheck, DeviceHealthCheck, HomingCheck, ImuMountCheck, SettingsCheck
public interface Check
One pre-match self-check, registered with PreMatchChecks.

Both methods run on the main thread after this loop's inputs are read, and must read only logged inputs (or values derived from them), so a replayed match gives the same verdicts. Neither may block, command a device or stop the robot from enabling: a check only reports.

  • Method Summary

    Modifier and Type
    Method
    Description
    CheckResult
    evaluate(double nowSeconds)
    Judges the robot now.
    default void
    observe(double nowSeconds)
    Called every loop, enabled or not, for checks that must see every loop: a reset flag that is true for one loop, or a condition that has to hold for some time.

  • Method Details

    • observe

      default void observe(double nowSeconds)
      Called every loop, enabled or not, for checks that must see every loop: a reset flag that is true for one loop, or a condition that has to hold for some time. Keep it cheap.
      Parameters:
      nowSeconds - this loop's robot time

    • evaluate

      CheckResult evaluate(double nowSeconds)
      Judges the robot now. Called only while disabled, and not every loop: PreMatchChecks spreads the checks across loops.
      Parameters:
      nowSeconds - this loop's robot time
      Returns:
      the verdict