NextFTC Robot/dev.nextftc.robot.coroutine/CoroutineCommandBuilder

CoroutineCommandBuilder

Builds a CoroutineCommand, in the same fluent style as com.pedropathing.ivy.CommandBuilder.

The builder is itself a com.pedropathing.ivy.Command, so it can be scheduled or composed with the usual Ivy operators without calling build:

coroutineCommand {
  await(arm.toHigh())
  wait(0.5)
  fork(claw.open())
}.requiring(arm).setPriority(1).schedule()

A fresh CoroutineCommand is created from the current configuration every time the builder is started, so one builder can be scheduled repeatedly.

Constructors

CoroutineCommandBuilder

constructor()

Properties

isScheduled

open val isScheduled: Boolean

Functions

blockedBehavior

open override fun blockedBehavior(): BlockedBehavior

build

fun build(): CoroutineCommand

Creates a CoroutineCommand from the current configuration. Later changes to the builder do not affect commands it has already built.

cancel

open fun cancel()

conflictBehavior

open override fun conflictBehavior(): ConflictBehavior

done

open override fun done(): Boolean

end

open override fun end(endCondition: EndCondition)

execute

open override fun execute()

interruptedBehavior

open override fun interruptedBehavior(): InterruptedBehavior

priority

open override fun priority(): Int

proxy

open fun proxy(): CommandBuilder?

raceWith

open fun raceWith(vararg commands: Command?): CommandBuilder?

requirements

open override fun requirements(): Set<Any>

requiring

fun requiring(requirements: Set<Any>): CoroutineCommandBuilder

fun requiring(vararg requirements: Any): CoroutineCommandBuilder

Sets the requirements of the command.

schedule

open fun schedule()

setBlockedBehavior

fun setBlockedBehavior(blockedBehavior: BlockedBehavior): CoroutineCommandBuilder

Sets what the command does when blocked by a command with a higher priority.

setBody

fun setBody(body: suspend CommandScope.() -> Unit): CoroutineCommandBuilder

Sets the body of the command. See CommandScope for what it can suspend on.

setConflictBehavior

fun setConflictBehavior(conflictBehavior: ConflictBehavior): CoroutineCommandBuilder

Sets what the command does when a conflicting command with an equal priority is running.

setInterruptedBehavior

fun setInterruptedBehavior(interruptedBehavior: InterruptedBehavior): CoroutineCommandBuilder

Sets what the command does when interrupted.

setPriority

fun setPriority(priority: Int): CoroutineCommandBuilder

Sets the priority the command has over commands with conflicting requirements.

start

open override fun start()

then

open fun then(vararg commands: Command?): CommandBuilder?

unless

open fun unless(condition: BooleanSupplier?): CommandBuilder?

until

open fun until(condition: BooleanSupplier?): CommandBuilder?

with

open fun with(vararg commands: Command?): CommandBuilder?