BasicTask

java.lang.Object

com.cdarobotics.cdalib.tasks.Task

com.cdarobotics.cdalib.tasks.BasicTask

public class BasicTask extends Task

A task built from lambdas: init runs once, then run is polled each loop and returns true when the task is finished.

Constructor Summary

Constructors

Constructor

Description

BasicTask(Runnable init, BooleanSupplier run)
Method Summary

Modifier and Type

Method

Description

void

init()

Called once before the first Task.run().

boolean

run()

Called every loop after Task.init().

String

toString()

Methods inherited from class com.cdarobotics.cdalib.tasks.Task
alongWith, andThen, raceWith, withDeadline

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Details
- BasicTask
  
  public BasicTask(Runnable init, BooleanSupplier run)
  
  Parameters:
  
  init - runs once when the task starts
  
  run - polled each loop; return true when the task is finished
Method Details
- init
  
  public void init()
  
  Description copied from class: Task
  
  Called once before the first Task.run(). Set up state and issue starting commands here.
  
  Specified by:
  
  init in class Task
- run
  
  public boolean run()
  
  Description copied from class: Task
  
  Called every loop after Task.init().
  
  Specified by:
  
  run in class Task
  
  Returns:
  
  true when the task is finished, false to keep running.
- toString
  
  @NonNull public String toString()
  
  Specified by:
  
  toString in class Task