TPair

TPair is a utility class in the ftcontrol library for mapping configurable key-value pairs between two types, commonly used for robotic mechanism position control (e.g., mapping states like OPENED/CLOSED to servo positions).

Key Features

  1. Maps semantic states (e.g., Enum) to numeric/digital values (e.g., Double, Boolean)
  2. Supports runtime configuration via the ftcontrol UI
  3. Provides a default fallback value for unmatched keys

Use @GenericValue(KeyType::class, ValueType::class) to preserve type information at runtime (required due to Kotlin type erasure): Use val currentPosition = poses.get() to access current value.

package org.firstinspires.ftc.teamcode.examples.configurables

import com.bylazar.ftcontrol.panels.configurables.TPair
import com.bylazar.ftcontrol.panels.configurables.annotations.Configurable
import com.bylazar.ftcontrol.panels.configurables.annotations.GenericValue

@Configurable
object ClawConfig {
    enum class State {
        OPENED,
        CLOSED,
        AJAR
    }

    @JvmField
    var state: State = State.OPENED

    @field:GenericValue(State::class, Double::class)
    @JvmField
    var poses = TPair({ state }) {
        pair(State.OPENED, 0.0)
        pair(State.CLOSED, 1.0)
        pair(State.AJAR, 0.5)

        default(0.5)
    }

    val clawPos = poses()
    val openedPos = poses.getStateValue(State.OPENED)
}
kt
Last update at: 2025/05/28 14:33:22

A library by Lazar from 19234 ByteForce.