RunToState

RunToState, along with its children RunToPosition and RunToVelocity, allow you to move a ControlSystem (from NextControl) to a desired state. It is commonly used with Controllables, such as MotorEx. When a RunToState command is scheduled, there are two steps:

1. Set the goal of the ControlSystem to the desired state.
2. Wait until the ControlSystem is at the desired state.

Notice that RunToState is never directly setting the motor power, as that's the responsibility of the user, usually in periodic or onUpdate.

The constructor of RunToState takes a ControlSystem and a goal, along with (optionally) a tolerance.

RunToState(
    controlSystem,
    KineticState(
        posTarget,
        velTarget,
        accelTarget
    )
)

If you do not care about one of the targets, it is usually best to set it to zero.

You can also pass a tolerance. The tolerance determines when the command will finish. It is checked using controlSystem.isWithinTolerance(tolerance: KineticState). If you do not care about one of the tolerances (e.g., acceleration in position control,) you can set it to Double.POSITIVE_INFINITY.

RunToState(
    controlSystem,
    goal = KineticState(
        posTarget,
        velTarget,
        accelTarget
    ),
    tolerance = KineticState(
        posTolerance,
        velTolerance,
        accelTolerance
    )
)

RunToPosition

RunToPosition is a subclass of RunToState that makes position control easier. Instead of passing the goal as a KineticState, you can just pass the position target. The velocity and acceleration targets default to zero. Additionally, you only have to pass the position tolerance. The velocity and acceleration tolerances default to 5 and Double.POSITIVE_INFINITY, respectively. The position tolerance defaults to 10. Alternatively, you may pass the tolerance as a full KineticState, if desired.

RunToPosition(controlSystem, posTarget)
RunToPosition(controlSystem, posTarget, posTolerance)
RunToPosition(controlSystem, posTarget, fullTolerance)

RunToVelocity

RunToVelocity is very similar to RunToPosition, except for velocity control. The position and acceleration tolerances default to Double. POSITIVE_INFINITY. The velocity tolerance defaults to 5.

RunToPosition(controlSystem, velTarget)
RunToPosition(controlSystem, velTarget, velTolerance)
RunToPosition(controlSystem, velTarget, fullTolerance)