hololib::motion_handler Namespace Reference

Functions
void	move (std::function< void(void)> _motion, std::optional< uint32_t > _priority=std::nullopt)
	run a motion algorithm
bool	isMoving ()
	cancel the currently running motion, if it exists
void	cancel ()
	cancel the currently running motion, if it exists
void	waitUntilDone ()

Function Documentation

move()

void hololib::motion_handler::move	(	std::function< void(void)>	_motion,
		std::optional< uint32_t >	_priority = std::nullopt
	)

run a motion algorithm

Parameters

f	the motion function

Example:

// a simple motion algorithm, as an example
void simpleMotion() {
  std::uint32_t prevTime = pros::millis();
  // run until the task has been notified
  while (!pros::Task::notify_take(true, 0)) {
    // motion algorithm stuff would go here
    // ...
    // wait 10 ms to free up CPU time for other tasks
    pros::Task::delay_until(&prevTime, 10);
  }
}
 
// runs during the autonomous period
void autonomous() {
  // pass the motion to the motion handler
  hololib::motion_handler::move([&] { simpleMotion(); });
  // "Hello World!" is printed immediately after the motion starts
  std::cout << "Hello World!" << std::endl;
  // but if we try to run another motion while one is still running,
  // it will wait until the last one stops running
  hololib::motion_handler::move([&] { simpleMotion(); });
  std::cout << "Last motion ended, new motion started!" << std::endl;
}

isMoving()

bool hololib::motion_handler::isMoving

(

)

cancel the currently running motion, if it exists

Example:

// a simple motion algorithm, as an example
void simpleMotion() {
  std::uint32_t prevTime = pros::millis();
  // run until the task has been notified
  while (!pros::Task::notify_take(true, 0)) {
    // motion algorithm stuff would go here
    // ...
    // wait 10 ms to free up CPU time for other tasks
    pros::Task::delay_until(&prevTime, 10);
  }
}
 
// runs during the autonomous period
void autonomous() {
  // pass the motion to the motion handler
  hololib::motion_handler::move([&] { simpleMotion(); });
  hololib::motion_handler::isMoving(); // returns true
  // cancel the motion
  hololib::motion_handler::cancel();
  pros::delay(10); // give the task time to stop
  hololib::motion_handler::isMoving(); // returns false
}

cancel()

void hololib::motion_handler::cancel

(

)

cancel the currently running motion, if it exists

Example:

// a simple motion algorithm, as an example
void simpleMotion() {
  std::uint32_t prevTime = pros::millis();
  // run until the task has been notified
  while (!pros::Task::notify_take(true, 0)) {
    // motion algorithm stuff would go here
    // ...
    // wait 10 ms to free up CPU time for other tasks
    pros::Task::delay_until(&prevTime, 10);
  }
}
 
// runs during the autonomous period
void autonomous() {
  // pass the motion to the motion handler
  hololib::motion_handler::move([]{ simpleMotion(); });
  hololib::motion_handler::isMoving(); // returns true
  // cancel the motion
  hololib::motion_handler::cancel();
  pros::delay(10); // give the task time to stop
  hololib::motion_handler::isMoving(); // returns false
}

waitUntilDone()

void hololib::motion_handler::waitUntilDone

(

)