HoldPointTask

java.lang.Object

com.cdarobotics.cdalib.tasks.Task

com.cdarobotics.cdalib.tasks.HoldPointTask

public class HoldPointTask extends Task

A task that commands the PedroPathing follower to hold a pose, finishing immediately after issuing the command.

Constructor Summary

Constructors

Constructor

Description

HoldPointTask(com.pedropathing.follower.Follower follower, com.pedropathing.math.Pose pose)
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
- HoldPointTask
  
  public HoldPointTask(com.pedropathing.follower.Follower follower, com.pedropathing.math.Pose pose)
  
  Parameters:
  
  follower - the drivetrain follower
  
  pose - the pose to hold
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