Command/com.amarcolini.joos.command/CommandOpMode

CommandOpMode

abstract class CommandOpMode : LinearOpMode, CommandInterface

An OpMode that uses a CommandScheduler, and optionally, a Robot.

Constructors

CommandOpMode

constructor()

Types

Hardware

@Target(allowedTargets = [AnnotationTarget.PROPERTY, AnnotationTarget.FIELD])

annotation class Hardware(val id: String)

HardwareDelegate

open inner class HardwareDelegate<T, Device : Any>(val deviceType: KClass<Device>, val deviceName: String, map: Device.() -> T) : CommandOpMode.InitializerDelegate<T>

InitializerDelegate

open inner class InitializerDelegate<T>(onInit: () -> T)

@Target(allowedTargets = [AnnotationTarget.PROPERTY, AnnotationTarget.FIELD])

annotation class Register

RobotDelegate

inner class RobotDelegate<T : Robot>(type: KClass<T>)

Properties

cancelBeforeStart

protected var cancelBeforeStart: Boolean

Whether all commands scheduled in preInit should be cancelled before starting the OpMode. false by default.

dashboard

@JvmField

protected var dashboard: FtcDashboard?

The FtcDashboard instance.

gamepad

@get:JvmName(name = "gamepad")

protected val gamepad: MultipleGamepad

A handy MultipleGamepad.

hMap

@JvmField

protected var hMap: HardwareMap

initLoop

protected var initLoop: Boolean

Whether the CommandScheduler should update in the init loop. Note that if preStart is overridden, this is automatically set to true, otherwise false.

isAutonomous

@JvmField

protected val isAutonomous: Boolean

Whether this OpMode is an autonomous OpMode.

isTeleOp

@JvmField

protected val isTeleOp: Boolean

Whether this OpMode is a teleop OpMode.

telem

@JvmField

protected val telem: SuperTelemetry

The global SuperTelemetry instance.

Functions

gamepad

fun <T> gamepad(buttons: BiFunction<GamepadEx, GamepadEx, T>): T

getHardware

protected inline fun <Device : Any> getHardware(deviceName: String): CommandOpMode.HardwareDelegate<Device, Device>

onInit

protected fun <T : Any> onInit(init: () -> T): CommandOpMode.InitializerDelegate<T>

postStop

open fun postStop()

preInit

abstract fun preInit()

preStart

open fun preStart()

robot

protected inline fun <T : Robot> robot(): CommandOpMode.RobotDelegate<T>

runOpMode

override fun runOpMode()