How to use the DriverAid#

The DriverAid class allows you to control the way your driver aid functions are run. You can add DAFunc functions to the class, then set the state in order to run it continuously.

Step-by-Step Guide#

Define Your Enum States: Create an enum to represent the different states of your driver aid. This should contain an IDLE state.
```
public enum DA {
    DRIVE,
    TURN,
    TEST,
    IDLE
}
```
Initialize the DriverAid Class: Create an instance of the DriverAid class, passing your enum class as a parameter.
```
DriverAid<DA> driverAid = new DriverAid<>(DA.class);
```
Create DAFunc Instances: Define the functions that will run based on the state of the robot. Each DAFunc instance requires the DriverAid instance, the state, and the functions to run.

Essentially, it is the driver aid, then your state, then the initializer function (runs once at the beginning), the constant function (runs every loop), the isEnded function (returns true if the function is done), and the reset function (runs once at the beginning).

DriverAid.DAFunc<DA> func1 = new DriverAid.DAFunc<>(
        driverAid,
        DA.DRIVE,
        () -> telemetry.addData("func1", "drive init"),
        () -> telemetry.addData("func1", "drive constant"),
        () -> false,
        () -> telemetry.addData("func1", "drive reset")
);

DriverAid.DAFunc<DA> func2 = new DriverAid.DAFunc<>(
        driverAid,
        DA.TURN,
        () -> telemetry.addData("func2", "turn init"),
        () -> telemetry.addData("func2", "turn constant"),
        () -> false,
        () -> telemetry.addData("func2", "turn reset")
);

DriverAid.DAFunc<DA> func3 = new DriverAid.DAFunc<>(
        driverAid,
        DA.TEST,
        () -> telemetry.addData("func3", "test init"),
        () -> telemetry.addData("func3", "test constant"),
        () -> false,
        () -> telemetry.addData("func3", "test reset")
);
// you do not need one for idle state since it is built automatically

Initialize a Function: Call runInit() on a DAFunc instance to set it as the current function and run its initialization code.
```
func1.runInit();
//OR
driverAid.setDriverAidFunction(func1);
// or
driverAid.idle(DA.IDLE); // for idle state
```
Update the DriverAid: In your main loop, call update() on the DriverAid instance to continuously run the current function.
```
while (opModeIsActive()) {
    driverAid.update();
    telemetry.update();
}
```

Switch Functions Based on Input: Use gamepad (or GamepadPlus) input or other conditions to switch between different DAFunc instances.

if (gamepad1.dpad_right) {
    driverAid.setDriverAidFunction(func1); // options for this
} else if (gamepad1.dpad_up) {
    func2.runInit();
} else if (gamepad1.dpad_left) {
    func3.runInit();
} else if (gamepad1.dpad_down) {
    driverAid.idle(DA.IDLE);
}

Full Example#

enum DA{
    DRIVE,
    TURN,
    TEST,
    IDLE
}
@TeleOp
public class GentrifiedAppsTestOpMode extends LinearOpMode {
    @Override
    public void runOpMode() throws InterruptedException {
        DriverAid<DA> driverAid = new DriverAid<>(DA.class);

        DriverAid.DAFunc<DA> func1 = new DriverAid.DAFunc<>(
                driverAid,
                DA.DRIVE,
                () -> telemetry.addData("func1", "drive init"),
                () -> telemetry.addData("func1", "drive constant"),
                () -> false, // unnecessary unless you want to use is ended
                () -> telemetry.addData("func1", "drive reset") // unnecessary unless you want to use reset
        );

        DriverAid.DAFunc<DA> func2 = new DriverAid.DAFunc<>(
                driverAid,
                DA.TURN,
                () -> telemetry.addData("func2", "turn init"),
                () -> telemetry.addData("func2", "turn constant"),
                () -> false,
                () -> telemetry.addData("func2", "turn reset")
        );

        DriverAid.DAFunc<DA> func3 = new DriverAid.DAFunc<>(
                driverAid,
                DA.TEST,
                () -> telemetry.addData("func3", "test init"),
                () -> telemetry.addData("func3", "test constant"),
                () -> false,
                () -> telemetry.addData("func3", "test reset")
        );

        func1.runInit();

        waitForStart();

        while (opModeIsActive()) {
            if (gamepad1.dpad_right) {
                driverAid.setDriverAidFunction(func1);
            } else if (gamepad1.dpad_up) {
                func2.runInit();
            } else if (gamepad1.dpad_left) {
                func3.runInit();
            } else if (gamepad1.dpad_down) {
                driverAid.idle(DA.IDLE);
            }
            driverAid.update();
            telemetry.update();
        }
    }
}