Prompter

package com.skeletonarmy.marrow.prompts

Overview

Prompter is a pre-match configuration tool that displays a sequence of interactive prompts as telemetry. This allows you to easily set parameters such as alliance color, starting position, and strategy using the gamepad - right before a match.

This eliminates the need for multiple OpModes with hardcoded settings, reducing clutter.

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Usage

Setup

To create a Prompter, simply instantiate it with the current OpMode instance:

Prompter prompter = new Prompter(this);

Enqueuing Prompts

Prompts are added to the Prompter using prompt(String, Prompt<T>).

prompter.prompt("alliance", new OptionPrompt<>("Select Alliance", Alliance.RED, Alliance.BLUE))
        .prompt("delay", new ValuePrompt("Start Delay", 0.0, 10.0, 0.0, 1.0))
        .prompt("enable_park", new BooleanPrompt("Enable Park?", true));

Each prompt is tied to a key so you can retrieve the result later:

Alliance alliance = prompter.get("alliance");
double delaySeconds = prompter.get("delay");
boolean shouldPark = prompter.get("enable_park");

Conditional Prompts

You can conditionally add prompts using a Supplier<Prompt<T>>. This lets you decide whether to show a prompt based on earlier choices.

prompter.prompt("park_location", () -> {
    if (prompter.get("enable_park").equals(true)) {
        return new OptionPrompt<>("Select Park Location", 1, 2);
    }
    return null; // Skip if the driver chose not to park
});

You can retrieve the result using getOrDefault(string, T). If there is no selection for the prompt, it will return the provided default value.

int parkLocation = prompter.getOrDefault("park_location", 0);

Using Results

You can run a function after all prompts are complete using onComplete(Runnable). You should retrieve prompt values inside this function, since only then are they guaranteed to be set.

prompter.onComplete(() -> {
    Alliance alliance = prompter.get("alliance");
    double delay = prompter.get("delay");
    boolean enablePark = prompter.get("enable_park");
    int parkLocation = prompter.getOrDefault("park_location", 0);
});

Running the Prompter

To start the Prompter, simply call run() in your loop function. This will run until all prompts are completed.

prompter.run();

Controls

Use the following gamepad controls to navigate the prompt interface:

• D-PAD: Navigate the prompt

• A: Confirm the current selection

• B: Go back to the previous prompt

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Example Usage

@Autonomous
public class MyAuto extends OpMode {
    enum Alliance {
        RED,
        BLUE
    }

    private Prompter prompter = new Prompter(this);

    @Override
    public void init() {
        prompter.prompt("alliance", new OptionPrompt<>("Select Alliance", Alliance.RED, Alliance.BLUE))
                .prompt("delay", new ValuePrompt("Start Delay", 0.0, 10.0, 0.0, 1.0))
                .prompt("enable_park", new BooleanPrompt("Enable Park?", true))
                .prompt("park_location", () -> {
                    if (prompter.get("enable_park").equals(true)) {
                        return new OptionPrompt<>("Select Park Location", 1, 2);
                    }
                    return null; // Skip if the driver chose not to park
                })
                .onComplete(this::onPromptsComplete);
    }
    
    public void onPromptsComplete() {
        Alliance alliance = prompter.get("alliance");
        double delay = prompter.get("delay");
        boolean enablePark = prompter.get("enable_park");
        int parkLocation = prompter.getOrDefault("park_location", 0);

        telemetry.addData("Selected Alliance", alliance);
        telemetry.addData("Selected Delay", delay);
        telemetry.addData("Is Parking?", enablePark);
        telemetry.addData("Selected Park Location", parkLocation);
        telemetry.update();
    }

    @Override
    public void init_loop() {
        prompter.run();
    }

    @Override
    public void loop() {}
}

What the Driver Sees

On init, the Prompter will display the following on the Driver Hub:

Select Alliance:

1) RED <
2) BLUE

Prompts will appear one at a time in this format until all selections have been made.