Package tagalong.commands.aim

Class PivotAimAtYawCompCmd<T extends TagalongSubsystemBase & PivotAugment>

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

tagalong.commands.TagalongCommand

tagalong.commands.base.PivotToDynamicCmd<T>

tagalong.commands.aim.PivotAimAtYawCompCmd<T>

All Implemented Interfaces:

Sendable

public class PivotAimAtYawCompCmd<T extends TagalongSubsystemBase & PivotAugment>
extends PivotToDynamicCmd<T>

Command that continuously points at a target in 2d space while compensating for the current rotation of the robot. Since this is strictly rotational targeting give robot position as (X, Y) pose

Nested Class Summary

Nested classes/interfaces inherited from class edu.wpi.first.wpilibj2.command.Command

Command.InterruptionBehavior

Constructor Summary

Constructors

Constructor	Description
PivotAimAtYawCompCmd(int id, T pivot, Supplier<Pose2d> positionSupplier, Translation2d target)	Minimal constructor with default parameters
PivotAimAtYawCompCmd(int id, T pivot, Supplier<Pose2d> positionSupplier, Translation2d target, boolean holdPositionAfter)	Constructor that creates the command with the below parameters.
PivotAimAtYawCompCmd(int id, T pivot, Supplier<Pose2d> positionSupplier, Translation2d target, boolean holdPositionAfter, double maxVelocityRPS)	Constructor that creates the command with the below parameters.
PivotAimAtYawCompCmd(T pivot, Supplier<Pose2d> positionSupplier, Translation2d target)	Minimal constructor with default parameters
PivotAimAtYawCompCmd(T pivot, Supplier<Pose2d> positionSupplier, Translation2d target, boolean holdPositionAfter)	Constructor that creates the command with the below parameters.
PivotAimAtYawCompCmd(T pivot, Supplier<Pose2d> positionSupplier, Translation2d target, boolean holdPositionAfter, double maxVelocityRPS)	Constructor that creates the command with the below parameters.

Method Summary

Modifier and Type	Method	Description
protected static DoubleSupplier	positionTransform(Supplier<Pose2d> location, DoubleSupplier pivotPosition, Translation2d target, double pivotMinRot, double pivotMaxRot)	Transform position into an optimal path angle to target, compensates for the current robot yaw while respecting the system's positional limits

Methods inherited from class tagalong.commands.base.PivotToDynamicCmd

end, execute, initialize, isFinished

Methods inherited from class tagalong.commands.TagalongCommand

anonymize

Methods inherited from class edu.wpi.first.wpilibj2.command.Command

addRequirements, addRequirements, alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineFor, deadlineWith, finallyDo, finallyDo, getInterruptionBehavior, getName, getRequirements, getSubsystem, handleInterrupt, hasRequirement, ignoringDisable, initSendable, isScheduled, onlyIf, onlyWhile, raceWith, repeatedly, runsWhenDisabled, schedule, setName, setSubsystem, unless, until, withDeadline, withInterruptBehavior, withName, withTimeout, withTimeout

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

PivotAimAtYawCompCmd

public PivotAimAtYawCompCmd(int id,
 T pivot,
 Supplier<Pose2d> positionSupplier,
 Translation2d target)

Minimal constructor with default parameters

Parameters:

id - Integer ID of the pivot microsystem inside the Tagalong Subsystem

pivot - Tagalong Subsystem containing a pivot microsystem

positionSupplier - Supplies the current robot position position

target - Unmoving 2-dimensional target location

PivotAimAtYawCompCmd

public PivotAimAtYawCompCmd(T pivot,
 Supplier<Pose2d> positionSupplier,
 Translation2d target)

Minimal constructor with default parameters

Parameters:

pivot - Tagalong Subsystem containing a pivot microsystem

positionSupplier - Supplies the current robot position position

target - Unmoving 2-dimensional target location

PivotAimAtYawCompCmd

public PivotAimAtYawCompCmd(int id,
 T pivot,
 Supplier<Pose2d> positionSupplier,
 Translation2d target,
 boolean holdPositionAfter,
 double maxVelocityRPS)

Constructor that creates the command with the below parameters.

Parameters:

id - Integer ID of the pivot microsystem inside the Tagalong Subsystem

pivot - Tagalong Subsystem containing a pivot microsystem

positionSupplier - Supplies the current robot position position

target - Unmoving 2-dimensional target location

holdPositionAfter - If the pivot should hold position when the command completes

maxVelocityRPS - The maximum velocity of the pivot, in rotations per second, during this command

PivotAimAtYawCompCmd

public PivotAimAtYawCompCmd(T pivot,
 Supplier<Pose2d> positionSupplier,
 Translation2d target,
 boolean holdPositionAfter,
 double maxVelocityRPS)

Constructor that creates the command with the below parameters.

Parameters:

pivot - Tagalong Subsystem containing a pivot microsystem

positionSupplier - Supplies the current robot position position

target - Unmoving 2-dimensional target location

holdPositionAfter - If the pivot should hold position when the command completes

maxVelocityRPS - The maximum velocity of the pivot, in rotations per second, during this command

PivotAimAtYawCompCmd

public PivotAimAtYawCompCmd(int id,
 T pivot,
 Supplier<Pose2d> positionSupplier,
 Translation2d target,
 boolean holdPositionAfter)

Constructor that creates the command with the below parameters.

Parameters:

id - Integer ID of the pivot microsystem inside the Tagalong Subsystem

pivot - Tagalong Subsystem containing a pivot microsystem

positionSupplier - Supplies the current robot position position

target - Unmoving 2-dimensional target location

holdPositionAfter - If the pivot should hold position when the command completes

PivotAimAtYawCompCmd

public PivotAimAtYawCompCmd(T pivot,
 Supplier<Pose2d> positionSupplier,
 Translation2d target,
 boolean holdPositionAfter)

Constructor that creates the command with the below parameters.

Parameters:

pivot - Tagalong Subsystem containing a pivot microsystem

positionSupplier - Supplies the current robot position position

target - Unmoving 2-dimensional target location

holdPositionAfter - If the pivot should hold position when the command completes

Method Details

positionTransform

protected static DoubleSupplier positionTransform(Supplier<Pose2d> location,
 DoubleSupplier pivotPosition,
 Translation2d target,
 double pivotMinRot,
 double pivotMaxRot)

Transform position into an optimal path angle to target, compensates for the current robot yaw while respecting the system's positional limits

Parameters:

location - Current robot location supplier

pivotPosition - Pivot position supplier

target - Target to aim at's location

pivotMinRot - pivots minimum position in rotations

pivotMaxRot - pivots maximum position in rotations

Returns:

Optimal path target angle for the pivot