Package com.pathplanner.lib.events

Class TriggerEvent

java.lang.Object

com.pathplanner.lib.events.Event

com.pathplanner.lib.events.TriggerEvent

public class TriggerEvent
extends Event

Event for setting the value of an event trigger

Constructor Summary

Constructors

Constructor	Description
TriggerEvent(double timestamp, String name, boolean active)	Create an event for changing the value of a named trigger
TriggerEvent(edu.wpi.first.units.measure.Time timestamp, String name, boolean active)	Create an event for changing the value of a named trigger

Method Summary

Modifier and Type	Method	Description
void	cancelEvent(EventScheduler eventScheduler)	Cancel this event.
Event	copyWithTimestamp(double timestampSeconds)	Copy this event with a different timestamp
String	getEventName()	Get the event name for this event
boolean	getValue()	Get whether this event will set the trigger high or low
void	handleEvent(EventScheduler eventScheduler)	Handle this event

Methods inherited from class com.pathplanner.lib.events.Event

copyWithTimestamp, getTimestamp, getTimestampSeconds, setTimestamp, setTimestamp

Methods inherited from class java.lang.Object

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

Constructor Details

TriggerEvent

public TriggerEvent(double timestamp,
 String name,
 boolean active)

Create an event for changing the value of a named trigger

Parameters:

timestamp - The trajectory timestamp of this event

name - The name of the trigger to control

active - Should the trigger be activated by this event

TriggerEvent

public TriggerEvent(edu.wpi.first.units.measure.Time timestamp,
 String name,
 boolean active)

Create an event for changing the value of a named trigger

Parameters:

timestamp - The trajectory timestamp of this event

name - The name of the trigger to control

active - Should the trigger be activated by this event

Method Details

getEventName

public String getEventName()

Get the event name for this event

Returns:

The event name

getValue

public boolean getValue()

Get whether this event will set the trigger high or low

Returns:

Value of the trigger

handleEvent

public void handleEvent(EventScheduler eventScheduler)

Handle this event

Specified by:

handleEvent in class Event

Parameters:

eventScheduler - Reference to the EventScheduler running this event

cancelEvent

public void cancelEvent(EventScheduler eventScheduler)

Description copied from class: Event

Cancel this event. This will be called if a path following command ends before this event gets handled.

Specified by:

cancelEvent in class Event

Parameters:

eventScheduler - Reference to the EventScheduler handling this event

copyWithTimestamp

public Event copyWithTimestamp(double timestampSeconds)

Description copied from class: Event

Copy this event with a different timestamp

Specified by:

copyWithTimestamp in class Event

Parameters:

timestampSeconds - The new timestamp

Returns:

Copied event with new time