Package frc.alotobots.library.subsystems.bling.util

Class BlingUtil

java.lang.Object

frc.alotobots.library.subsystems.bling.util.BlingUtil

public class BlingUtil
extends Object

Constructor Summary

Constructors

Constructor	Description
BlingUtil()

Method Summary

Modifier and Type	Method	Description
static Trigger	scheduleAtMatchTime(Command command, Time timeRemaining)	Schedules a command to run when a specific amount of time remains in the current match period.
static Trigger	scheduleAtMatchTime(Command command, Time timeRemaining, Time tolerance, Time totalMatchTime)	Schedules a command to run when a specific amount of time remains in the current match period.

Methods inherited from class java.lang.Object

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

Constructor Details

BlingUtil

public BlingUtil()

Method Details

scheduleAtMatchTime

public static Trigger scheduleAtMatchTime(Command command,
 Time timeRemaining,
 Time tolerance,
 Time totalMatchTime)

Schedules a command to run when a specific amount of time remains in the current match period. Handles different timing behaviors based on FMS connection status. Only runs during teleop.

Parameters:

command - The command to schedule

timeRemaining - Time remaining in the match when the command should trigger

tolerance - Time tolerance to account for periodic execution

totalMatchTime - Total duration of the match (typically 135 seconds for teleop)

Returns:

The created Trigger object that will schedule the command

scheduleAtMatchTime

public static Trigger scheduleAtMatchTime(Command command,
 Time timeRemaining)

Schedules a command to run when a specific amount of time remains in the current match period. Uses default tolerance of 0.1 seconds and default teleop time of 135 seconds.

Parameters:

command - The command to schedule

timeRemaining - Time remaining in the match when the command should trigger

Returns:

The created Trigger object that will schedule the command