Adding Macros

Macros provide a way to automatically execute one or more actions in a predictable fashion to make the robot’s operation more precise or to provide convenient controls for the human driver or co-driver. Macros use a series of control tasks working together to accomplish these actions.

To add a new macro, add a new entry to the MacroOperation enumeration and a new MacroOperationDescription to the macro schema within the ButtonMap class.

new MacroOperationDescription(
    MacroOperation.SomeMacro,
    UserInputDevice.Driver,
    UserInputDeviceButton.XBONE_X_BUTTON,
    EnumSet.of(Shift.RelevantShift),
    EnumSet.of(Shift.RequiredShift),
    EnumSef.of(OperationContext.RequiredContext),
    ButtonType.Simple,
    () -> new SomeTask()),

The MacroOperationDescription requires arguments describing the user input device to use, the button that triggers the macro, the type of button to use (either Simple or Toggle), and a supplier for the task that should be used within the macro (() -> new SomeTask()).