Automated Release 51 **NO_CI**

Team488 · Feb 3, 2024 · 14f40fa · 14f40fa
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diff --git a/allclasses-index.html b/allclasses-index.html
@@ -110,7 +110,7 @@ <h1 title="All Classes and Interfaces" class="title">All Classes and Interfaces<
 <div class="col-last even-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>
 <div class="col-first odd-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/command/BaseMaintainerCommand.html" title="class in xbot.common.command">BaseMaintainerCommand</a>&lt;<a href="xbot/common/command/BaseMaintainerCommand.html" title="type parameter in BaseMaintainerCommand">T</a>&gt;</div>
 <div class="col-last odd-row-color all-classes-table all-classes-table-tab2">
-<div class="block">A command that maintains a subsystem at a goal value.</div>
+<div class="block">A command that maintains a subsystem at a goal value (and allows human override).</div>
 </div>
 <div class="col-first even-row-color all-classes-table all-classes-table-tab2"><a href="xbot/common/subsystems/pose/BasePoseSubsystem.html" title="class in xbot.common.subsystems.pose">BasePoseSubsystem</a></div>
 <div class="col-last even-row-color all-classes-table all-classes-table-tab2">&nbsp;</div>

diff --git a/index-all.html b/index-all.html
@@ -292,7 +292,7 @@ <h2 class="title" id="I:B">B</h2>
 <dd>&nbsp;</dd>
 <dt><a href="xbot/common/command/BaseMaintainerCommand.html" class="type-name-link" title="class in xbot.common.command">BaseMaintainerCommand</a>&lt;<a href="xbot/common/command/BaseMaintainerCommand.html" title="type parameter in BaseMaintainerCommand">T</a>&gt; - Class in <a href="xbot/common/command/package-summary.html">xbot.common.command</a></dt>
 <dd>
-<div class="block">A command that maintains a subsystem at a goal value.</div>
+<div class="block">A command that maintains a subsystem at a goal value (and allows human override).</div>
 </dd>
 <dt><a href="xbot/common/command/BaseMaintainerCommand.html#%3Cinit%3E(xbot.common.command.BaseSetpointSubsystem,xbot.common.properties.PropertyFactory,xbot.common.logic.HumanVsMachineDecider.HumanVsMachineDeciderFactory,double,double)" class="member-name-link">BaseMaintainerCommand(BaseSetpointSubsystem&lt;T&gt;, PropertyFactory, HumanVsMachineDecider.HumanVsMachineDeciderFactory, double, double)</a> - Constructor for class xbot.common.command.<a href="xbot/common/command/BaseMaintainerCommand.html" title="class in xbot.common.command">BaseMaintainerCommand</a></dt>
 <dd>

diff --git a/xbot/common/command/BaseMaintainerCommand.html b/xbot/common/command/BaseMaintainerCommand.html
@@ -82,7 +82,22 @@ <h1 title="Class BaseMaintainerCommand" class="title">Class BaseMaintainerComman
 <section class="class-description" id="class-description">
 <dl class="notes">
 <dt>Type Parameters:</dt>
-<dd><code>T</code> - The type of the setpoint being maintained.</dd>
+<dd><code>T</code> - The type of the setpoint being maintained.
+ It runs a state machine to decide if the subsystem should be in human control, machine control, or coasting:
+ <pre class="mermaid">
+    flowchart TD
+        C[Coast]
+        HC[HumanControl]
+        IMC[InitializeMachineControl]
+        HPI{Is Human providing input?}
+        R{Has Human Recently\nProvided Input?}
+        MC[MachineControl]
+        HPI-- Yes -->HC
+        HPI-- No -->R
+        R-- Yes -->C
+        R-- No -->IMC
+        IMC-->MC
+ </pre></dd>
 </dl>
 <dl class="notes">
 <dt>All Implemented Interfaces:</dt>
@@ -95,7 +110,7 @@ <h1 title="Class BaseMaintainerCommand" class="title">Class BaseMaintainerComman
 <hr>
 <div class="type-signature"><span class="modifiers">public abstract class </span><span class="element-name type-name-label">BaseMaintainerCommand&lt;T&gt;</span>
 <span class="extends-implements">extends <a href="BaseCommand.html" title="class in xbot.common.command">BaseCommand</a></span></div>
-<div class="block">A command that maintains a subsystem at a goal value.</div>
+<div class="block">A command that maintains a subsystem at a goal value (and allows human override).</div>
 </section>
 <section class="summary">
 <ul class="summary-list">

diff --git a/xbot/common/command/package-summary.html b/xbot/common/command/package-summary.html
@@ -174,7 +174,7 @@ <h2>Setpoint Subsystems and Maintainers</h2>
 </div>
 <div class="col-first odd-row-color class-summary class-summary-tab2"><a href="BaseMaintainerCommand.html" title="class in xbot.common.command">BaseMaintainerCommand</a>&lt;T&gt;</div>
 <div class="col-last odd-row-color class-summary class-summary-tab2">
-<div class="block">A command that maintains a subsystem at a goal value.</div>
+<div class="block">A command that maintains a subsystem at a goal value (and allows human override).</div>
 </div>
 <div class="col-first even-row-color class-summary class-summary-tab2"><a href="BaseRobot.html" title="class in xbot.common.command">BaseRobot</a></div>
 <div class="col-last even-row-color class-summary class-summary-tab2">