Add AutoRoutine.listen()

SleipnirGroup · Dec 6, 2024 · a421511 · a421511
1 parent c7a3ffc
commit a421511
Showing 1 changed file with 10 additions and 0 deletions.
diff --git a/choreolib/src/main/java/choreo/auto/AutoRoutine.java b/choreolib/src/main/java/choreo/auto/AutoRoutine.java
@@ -107,6 +107,16 @@ public EventLoop loop() {
     return loop;
   }
 
+  /**
+   * Creates a {@link Trigger} that is bound to the routine's event loop.
+   *
+   * @param condition The condition represented by the trigger.
+   * @return A {@link Trigger} that is {@code true} when the condition is satisfied.
+   */
+  public Trigger listen(BooleanSupplier condition) {
+    return new Trigger(loop, condition);
+  }
+
   /**
    * Gets the poll count of the routine.
    *