meanlib

Meanlib is a Kotlin coroutine-driven library for use on FRC robots.

Installation

Add meanlib to your build.gradle:

repositories {
    mavenCentral()
    maven { url "https://jitpack.io" }
}

dependencies {
    compile "com.github.TeamMeanMachine:meanlib:SNAPSHOT-frc2019"
    // other dependencies ...
}

Basic Usage

A very basic RobotProgram can be seen below:

object Robot : RobotProgram {
    override suspend fun enable() = println("Enabling robot!")

    override suspend fun disable() = println("Disabling robot!")

    override suspend fun teleop() = println("Beginning teleoperated mode!")

    override suspend fun autonomous() = println("Beginning autonomous mode!")
}

fun main() {
    initializeWpilib()

    runRobotProgram(Robot)
}

This program will print "Enabling robot!" followed by "Beginning teleoperated mode!" as soon as it's enabled in teleop from the Driver Station.

Being driven by Kotlin coroutines, long-running actions can easily be run in parallel with one another.

object Robot : RobotProgram {
    override suspend fun teleop() {
        GlobalScope.launch(MeanlibDispatcher) {
            parallel({
                // Wait 5 seconds
                delay(5.0)
                println("Hello meanlib!")
            }, {
                for (i in 0..6) {
                    println("Number $i!")
                    delay(1.0)
                }
            })
            println("Done.")
        }
    }
}

This code will result in the following output:

Number 0!
Number 1!
Number 2!
Number 3!
Number 4!
Number 5!
Hello meanlib!
Number 6!
Done.

TODO: More complete examples coming soon.

Credits

Special thanks to Team 2521 for their outstanding contributions!