Package tagalong.commands.aim

Class RollerAimAtCmd<T extends TagalongSubsystemBase & RollerAugment>

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

tagalong.commands.TagalongCommand

tagalong.commands.base.RollToDynamicCmd<T>

tagalong.commands.aim.RollerAimAtCmd<T>

All Implemented Interfaces:

Sendable

public class RollerAimAtCmd<T extends TagalongSubsystemBase & RollerAugment>
extends RollToDynamicCmd<T>

Command that continuously points at a target in 2d space. For rotational targeting give robot position as (X, Y) pose For vertical targets give (distance from target, mechanism height)

Nested Class Summary

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

Command.InterruptionBehavior

Constructor Summary

Constructors

Constructor	Description
RollerAimAtCmd(int id, T roller, Supplier<Translation2d> positionSupplier, Translation2d target)	Minimal constructor with default parameters
RollerAimAtCmd(int id, T roller, Supplier<Translation2d> positionSupplier, Translation2d target, boolean holdPositionAfter)	Constructor that creates the command with the below parameters.
RollerAimAtCmd(int id, T roller, Supplier<Translation2d> positionSupplier, Translation2d target, boolean holdPositionAfter, double maxVelocityRPS)	Constructor that creates the command with the below parameters.
RollerAimAtCmd(T roller, Supplier<Translation2d> positionSupplier, Translation2d target)	Minimal constructor with default parameters
RollerAimAtCmd(T roller, Supplier<Translation2d> positionSupplier, Translation2d target, boolean holdPositionAfter)	Constructor that creates the command with the below parameters.
RollerAimAtCmd(T roller, Supplier<Translation2d> 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<Translation2d> location, DoubleSupplier rollerPosition, Translation2d target)	Transform position into an optimal path angle to target, ignores yaw

Methods inherited from class tagalong.commands.base.RollToDynamicCmd

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

RollerAimAtCmd

public RollerAimAtCmd(int id,
 T roller,
 Supplier<Translation2d> positionSupplier,
 Translation2d target)

Minimal constructor with default parameters

Parameters:

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

roller - Tagalong Subsystem containing a roller microsystem

positionSupplier - Supplies the current robot position position

target - Unmoving 2-dimensional target location

RollerAimAtCmd

public RollerAimAtCmd(T roller,
 Supplier<Translation2d> positionSupplier,
 Translation2d target)

Minimal constructor with default parameters

Parameters:

roller - Tagalong Subsystem containing a roller microsystem

positionSupplier - Supplies the current robot position position

target - Unmoving 2-dimensional target location

RollerAimAtCmd

public RollerAimAtCmd(int id,
 T roller,
 Supplier<Translation2d> positionSupplier,
 Translation2d target,
 boolean holdPositionAfter,
 double maxVelocityRPS)

Constructor that creates the command with the below parameters.

Parameters:

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

roller - Tagalong Subsystem containing a roller microsystem

positionSupplier - Supplies the current robot position position

target - Unmoving 2-dimensional target location

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

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

RollerAimAtCmd

public RollerAimAtCmd(T roller,
 Supplier<Translation2d> positionSupplier,
 Translation2d target,
 boolean holdPositionAfter,
 double maxVelocityRPS)

Constructor that creates the command with the below parameters.

Parameters:

roller - Tagalong Subsystem containing a roller microsystem

positionSupplier - Supplies the current robot position position

target - Unmoving 2-dimensional target location

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

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

RollerAimAtCmd

public RollerAimAtCmd(int id,
 T roller,
 Supplier<Translation2d> positionSupplier,
 Translation2d target,
 boolean holdPositionAfter)

Constructor that creates the command with the below parameters.

Parameters:

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

roller - Tagalong Subsystem containing a roller microsystem

positionSupplier - Supplies the current robot position position

target - Unmoving 2-dimensional target location

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

RollerAimAtCmd

public RollerAimAtCmd(T roller,
 Supplier<Translation2d> positionSupplier,
 Translation2d target,
 boolean holdPositionAfter)

Constructor that creates the command with the below parameters.

Parameters:

roller - Tagalong Subsystem containing a roller microsystem

positionSupplier - Supplies the current robot position position

target - Unmoving 2-dimensional target location

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

Method Details

positionTransform

protected static DoubleSupplier positionTransform(Supplier<Translation2d> location,
 DoubleSupplier rollerPosition,
 Translation2d target)

Transform position into an optimal path angle to target, ignores yaw

Parameters:

location - Current robot location supplier

rollerPosition - Roller position supplier

target - Target to aim at's location

Returns:

Optimal path target angle for the roller