Pioneer Robotics Documentation/pioneer.hardware/Spindexer

Spindexer

class Spindexer(hardwareMap: HardwareMap, motorName: String = Constants.HardwareNames.SPINDEXER_MOTOR, intakeSensorName: String = Constants.HardwareNames.INTAKE_SENSOR, _artifacts: Array<Artifact?> = Array(3) { null }) : HardwareComponent

Constructors

constructor(hardwareMap: HardwareMap, motorName: String = Constants.HardwareNames.SPINDEXER_MOTOR, intakeSensorName: String = Constants.HardwareNames.INTAKE_SENSOR, _artifacts: Array<Artifact?> = Array(3) { null })

Types

enum MotorPosition : Enum<Spindexer.MotorPosition>

Properties

val artifacts: Array<Artifact?>

checkingForNewArtifacts

var checkingForNewArtifacts: Boolean

currentMotorPosition

val currentMotorPosition: Int

currentScannedArtifact

val currentScannedArtifact: Artifact?

val isEmpty: Boolean

val isFull: Boolean

isIntakePosition

val isIntakePosition: Boolean

isOuttakePosition

val isOuttakePosition: Boolean

var motorState: Spindexer.MotorPosition

open val name: String

numStoredArtifacts

val numStoredArtifacts: Int

val reachedTarget: Boolean

targetMotorPosition

val targetMotorPosition: Int

Functions

cancelLastIntake

fun cancelLastIntake()

open override fun init()

fun moveManual(power: Double)

moveToNextOpenIntake

fun moveToNextOpenIntake(): Boolean

Moves the motor to the next open intake position if available.

moveToNextOuttake

fun moveToNextOuttake(artifact: Artifact? = null): Boolean

Moves the motor to the next outtake position in sequence.

popCurrentArtifact

fun popCurrentArtifact(): Artifact?

Pops (removes and returns) the artifact at the current outtake position.

rescanAllArtifacts

fun rescanAllArtifacts()

fun reset()

resetMotorPosition

fun resetMotorPosition(resetTicks: Int = 0)

fun setArtifacts(vararg artifacts: Artifact?)

open override fun update()

Updates the motor position to match the desired motor state. Checks for new artifacts if in an intake position.