Package frc.spectrumLib

Class SpectrumState

java.lang.Object

edu.wpi.first.wpilibj2.command.button.Trigger

frc.spectrumLib.SpectrumState

All Implemented Interfaces:

BooleanSupplier

public class SpectrumState
extends Trigger

Represents a global or subsystem-specific state that can be used as a Trigger. Integrates with WPILib's Trigger and Alert systems.

Field Summary

Fields inherited from class edu.wpi.first.wpilibj2.command.button.Trigger

kFalse, kTrue

Constructor Summary

Constructors

Constructor	Description
SpectrumState(EventLoop eventLoop, String name)	Create a new EventTrigger that gets polled by the given event loop instead of the EventScheduler
SpectrumState(String name)	Create a new EventTrigger.

Method Summary

Modifier and Type	Method	Description
Command	set(boolean value)
protected static void	setCondition(String name, boolean value)	Set the value of an event condition
Command	setFalse()
Command	setFalseForTime(DoubleSupplier time)	Create a command that will set the state to false for a given time.
void	setState(boolean value)	Directly set the spectrum state to the specified value
Command	setTrue()
Command	setTrueForTime(DoubleSupplier time)	Create a command that will set the state to true for a given time.
Command	setTrueForTimeWithCancel(DoubleSupplier time, Trigger cancelCondition)	Create a command that will set the state to true for a given time, or until a cancel condition is met.
Command	setTrueWhileRunning()	Create a command that will set the state to true while the command is running Then it will set to false once it is cancelled
Command	toggle()
Command	toggleToFalse()	Command to set state to true, and then to false, ensuring your state will trigger change to false actions
Command	toggleToTrue()	Command to set state to false, and then to true, ensuring your state will trigger actions

Methods inherited from class edu.wpi.first.wpilibj2.command.button.Trigger

and, and, debounce, debounce, getAsBoolean, negate, not, onChange, onChangeToFalse, onChangeToTrue, onFalse, onFalse, onTrue, onTrue, or, or, runWithEndSequence, toggleOnFalse, toggleOnTrue, whileFalse, whileFalse, whileTrue, whileTrue

Methods inherited from class java.lang.Object

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

Constructor Details

SpectrumState

public SpectrumState(String name)

Create a new EventTrigger. This will run on the EventScheduler's event loop, which will be polled any time a path following command is running.

Parameters:

name - The name of the event. This will be the name of the event marker in the GUI

SpectrumState

public SpectrumState(EventLoop eventLoop,
 String name)

Create a new EventTrigger that gets polled by the given event loop instead of the EventScheduler

Parameters:

eventLoop - The event loop to poll this trigger

name - The name of the event. This will be the name of the event marker in the GUI

Method Details

setState

public void setState(boolean value)

Directly set the spectrum state to the specified value

Parameters:

value - The value to set the state to

setTrueWhileRunning

public Command setTrueWhileRunning()

Create a command that will set the state to true while the command is running Then it will set to false once it is cancelled

Returns:

the command

setTrueForTime

public Command setTrueForTime(DoubleSupplier time)

Create a command that will set the state to true for a given time.

Parameters:

time - The time in seconds to set the state to true

Returns:

the command

setFalseForTime

public Command setFalseForTime(DoubleSupplier time)

Create a command that will set the state to false for a given time.

Parameters:

time - The time in seconds to set the state to false

Returns:

the command

setTrueForTimeWithCancel

public Command setTrueForTimeWithCancel(DoubleSupplier time,
 Trigger cancelCondition)

Create a command that will set the state to true for a given time, or until a cancel condition is met.

Parameters:

time - The time in seconds to set the state to true

cancelCondition - The condition that will cancel the timer and set the state to false

Returns:

the command

toggleToTrue

public Command toggleToTrue()

Command to set state to false, and then to true, ensuring your state will trigger actions

Returns:

the command

toggleToFalse

public Command toggleToFalse()

Command to set state to true, and then to false, ensuring your state will trigger change to false actions

Returns:

set

public Command set(boolean value)

Parameters:

value -

Returns:

setTrue

public Command setTrue()

setFalse

public Command setFalse()

toggle

public Command toggle()

setCondition

protected static void setCondition(String name,
 boolean value)

Set the value of an event condition

Parameters:

name - The name of the condition

value - The value of the condition