How to time an action in teleop without delaying teleop.

[SamCarlberg]

Originally Posted by lopsided98

This method would work in this case (assuming the Solenoid methods are thread-safe), but I would be worried about possible race conditions if more complicated logic were to later be added in the TimerTask.

Also: Hi Sam!

Hey Ben!

Solenoid methods are thread-safe. I'd be more worried about scheduling a close, doing some stuff, then opening the solenoid (and expecting it to stay open) before the scheduled close happens. In this case, the methods for opening/closing the solenoid should have checks to see if it's been claimed by a different call.

private boolean claimed = false;

public void openSolenoid() {
    if (!claimed) {
        claimed = true;
        // open it
    }
}

public void closeSolenoid() {
    if (claimed) {
        claimed = false;
        // close it
    }
}

But I don't think it's a problem for something this simple.

[origamitaco]

Definitely need to switch to command-based robot and don't forget to use requires(); with your commands and subsystems, otherwise your whole robot will still pause. WPIlib documentation should be able to take it from there.

[JesseK]

Originally Posted by SamCarlberg

Hey Ben!

Solenoid methods are thread-safe. I'd be more worried about scheduling a close, doing some stuff, then opening the solenoid (and expecting it to stay open) before the scheduled close happens. In this case, the methods for opening/closing the solenoid should have checks to see if it's been claimed by a different call.


But I don't think it's a problem for something this simple.

It can be solved by limiting the exposure of the solenoid to a class that governs the entire mechanism, then by calling TimerTask.cancel() to eliminate the auto-close when the mechanism is told to do something different.