Constructor Detail

• CommandFactory

  CommandFactory(ISubsystemHub subsystemHub, ILogger logger)

  Constructs a new instance of the Commands factory.

  Parameters:

  logger - telemetry logger.

Method Detail

• dynamic

   Command dynamic(String name, Consumer<DynamicCommandBuilder> builderConsumer)

  Starts building a "dynamic" command group.

• anyOf

   Command anyOf(String name, Array<Command> commandList)

  Creates a new command group for commands that need to execute exclusively.

  Parameters:

  name - command group name.

  commandList - list of commands in the group.

• parallel

   Command parallel(String name, Array<Command> commandList)

  Creates a new command group for commands that must run in parallel.

  Parameters:

  name - command group name.

  commandList - list of commands in the group.

• sequential

   Command sequential(String name, Array<Command> commandList)

  Creates a new command group for commands that must run in sequence.

  Parameters:

  name - command group name.

  commandList - list of commands in the group.

• wait

   Command wait(String name, Duration duration)

  Creates a new wait command.

  Parameters:

  name - command name.

  duration - wait duration.

• followTrajectory

   Command followTrajectory(String name, ITimedTrajectory timedTrajectory, FollowTrajectoryCommandParams trajectoryGoals)

  Creates a new follow trajectory command.

  Parameters:

  name - command name.

  timedTrajectory - timed trajectory.

  trajectoryGoals - end position goals.