Package dev.narlyx.tweetybird

Class TweetyBird

java.lang.Object

dev.narlyx.tweetybird.TweetyBird

public class TweetyBird
extends Object

This is the main class behind TweetyBird, use this class to setup, start, and use TweetyBird.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	TweetyBird.Builder	Use this method to properly set up TweetyBird using Java's builder pattern.
static interface	TweetyBird.Driver	An interface for TweetyBird to define the structure of a driver class used to control movement.
static interface	TweetyBird.Odometer	An interface for TweetyBird to define the structure of a odometer class used to receive data on the robot's current position.

Field Summary

Fields

Modifier and Type	Field	Description
protected final double	correctionOverpower
protected final boolean	debuggingEnabled
protected final double	distanceBuffer
protected final TweetyBird.Driver	driver
protected final double	maxSpeed
protected final double	minSpeed
protected final TweetyBird.Odometer	odometer
protected final com.qualcomm.robotcore.eventloop.opmode.LinearOpMode	opMode
protected final double	rotationBuffer
protected final Runtime	runtime
protected final double	speedModifier
protected final WaypointQueue	waypointQueue

Constructor Summary

Constructors

Constructor	Description
TweetyBird(TweetyBird.Builder builder)	Do NOT call this method yourself, instead use the builder to start TweetyBird

Method Summary

Modifier and Type	Method	Description
void	close()	Terminates TweetyBird
boolean	isBusy()	Returns weather the mover is currently in progress or not
void	resetPosition(double x, double y, double z)	Shortcut to reset the position in the provided odometer
protected void	sendDebugMessage(String message)	Internal method used to send debug messages
void	sendTargetPosition(double x, double y, double z)	Creates a new waypoint and adds it to the end of the queue
void	waitWhileBusy()	Will wait in a while loop until isBusy() is false

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

opMode

protected final com.qualcomm.robotcore.eventloop.opmode.LinearOpMode opMode

odometer

protected final TweetyBird.Odometer odometer

driver

protected final TweetyBird.Driver driver

waypointQueue

protected final WaypointQueue waypointQueue

minSpeed

protected final double minSpeed

maxSpeed

protected final double maxSpeed

distanceBuffer

protected final double distanceBuffer

rotationBuffer

protected final double rotationBuffer

speedModifier

protected final double speedModifier

correctionOverpower

protected final double correctionOverpower

debuggingEnabled

protected final boolean debuggingEnabled

runtime

protected final Runtime runtime

Constructor Details

TweetyBird

public TweetyBird(TweetyBird.Builder builder)

Do NOT call this method yourself, instead use the builder to start TweetyBird

Parameters:

builder - Passed builder

Method Details

sendTargetPosition

public void sendTargetPosition(double x,
 double y,
 double z)

Creates a new waypoint and adds it to the end of the queue

Parameters:

x - New target X

y - New target Y

z - New target Z

resetPosition

public void resetPosition(double x,
 double y,
 double z)

Shortcut to reset the position in the provided odometer

Parameters:

x - New x

y - New y

z - New z

isBusy

public boolean isBusy()

Returns weather the mover is currently in progress or not

Returns:

Busy

waitWhileBusy

public void waitWhileBusy()

Will wait in a while loop until isBusy() is false

close

public void close()

Terminates TweetyBird

sendDebugMessage

protected void sendDebugMessage(String message)

Internal method used to send debug messages

Parameters:

message - message to be sent