Class HomingCheck

java.lang.Object

frc.spectrumLib.checks.HomingCheck

All Implemented Interfaces:

Check

public final class HomingCheck
extends Object
implements Check

Every mechanism that relies on its position knows where it is.

A mechanism reports a HomingCheck.State. addMechanism(Mechanism) covers any soft-limited Mechanism from what it already tracks (Mechanism.isPositionLost()); a mechanism with its own homing routine adds a supplier that maps that routine's state.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	HomingCheck.State

Constructor Summary

Constructors

Constructor	Description
HomingCheck()

Method Summary

Modifier and Type	Method	Description
void	add(String name, Supplier<HomingCheck.State> state)	Adds a mechanism with a state of its own.
void	addMechanism(Mechanism m)	Adds a mechanism by its reboot tracking.
CheckResult	evaluate(double now)	Judges the robot now.
static HomingCheck.State	stateOf(Mechanism m)	A mechanism's state from its reboot tracking alone.

Methods inherited from class Object

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

Methods inherited from interface Check

observe

Constructor Details

HomingCheck

public HomingCheck()

Method Details

add

public void add(String name,
 Supplier<HomingCheck.State> state)

Adds a mechanism with a state of its own.

Parameters:

name - its name in messages

state - its homing state, from logged inputs

addMechanism

public void addMechanism(Mechanism m)

Adds a mechanism by its reboot tracking. Skipped unless it is attached and soft-limited (only then does its position matter).

Parameters:

m - the mechanism

stateOf

public static HomingCheck.State stateOf(Mechanism m)

A mechanism's state from its reboot tracking alone.

evaluate

public CheckResult evaluate(double now)

Description copied from interface: Check

Judges the robot now. Called only while disabled, and not every loop: PreMatchChecks spreads the checks across loops.

Specified by:

evaluate in interface Check

Parameters:

now - this loop's robot time

Returns:

the verdict