Malefix/xyz.malefic.frc.state/intentCommand

intentCommand

fun intentCommand(name: String, vararg requirements: Subsystem, canExecute: () -> Boolean = { true }, onStart: () -> Unit, isComplete: () -> Boolean, onFinish: (Boolean) -> Unit = {}): IntentCommand

DSL-style builder for simple intent commands without creating a class.

Use this for simple, one-off intents that don't need a dedicated class.

Example:

val stowIntent = intentCommand(
    "Stow",
    Elevator, Arm,
    onStart = {
        Elevator.state = ElevatorState.DEFAULT
        Arm.state = ArmState.STOW
    },
    isComplete = { Elevator.isAtTarget() && Arm.isAtTarget() }
)

button.onTrue(stowIntent)

Return

An IntentCommand instance

Parameters

name

Human-readable name for the intent

requirements

Subsystems required by this intent

canExecute

Lambda to check prerequisites (default: always true)

onStart

Lambda to configure states when intent starts

isComplete

Lambda to check if intent goal is achieved

onFinish

Lambda for cleanup (default: no-op)