Package frc.spectrumLib.framework

Class SpectrumState

java.lang.Object
edu.wpi.first.wpilibj2.command.button.Trigger
frc.spectrumLib.framework.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.

  • 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 triggers bound to the false transition fire reliably.
      Returns:
      the command

    • set

      public Command set(boolean value)
      Creates an instant command that sets the state to the given value.
      Parameters:
      value - The desired state value
      Returns:
      the command

    • setTrue

      public Command setTrue()
      Creates an instant command that sets the state to true.
      Returns:
      the command

    • setFalse

      public Command setFalse()
      Creates an instant command that sets the state to false.
      Returns:
      the command

    • toggle

      public Command toggle()
      Creates an instant command that flips the current state value.
      Returns:
      the command

    • 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