Package tagalong.commands.base

Class ElevateToCmd<T extends TagalongSubsystemBase & ElevatorAugment>

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

tagalong.commands.TagalongCommand

tagalong.commands.base.ElevateToCmd<T>

All Implemented Interfaces:

Sendable

public class ElevateToCmd<T extends TagalongSubsystemBase & ElevatorAugment>
extends TagalongCommand

Base Command for linear system movement, moves system to specified height.

Nested Class Summary

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

Command.InterruptionBehavior

Constructor Summary

Constructors

Constructor	Description
ElevateToCmd(int id, T elevator, double goalPositionM, boolean holdPositionAfter, double maxVelocityMPS, double lowerToleranceM, double upperToleranceM, double requiredInToleranceDurationS)	Full constructor, with the below parameters.
ElevateToCmd(int id, T elevator, Height goalPositionM)	Constructor that creates the command with the below parameters.
ElevateToCmd(int id, T elevator, Height goalPositionM, boolean holdPositionAfter)	Constructor that creates the command with the below parameters.
ElevateToCmd(int id, T elevator, Height goalPositionM, boolean holdPositionAfter, double maxVelocityMPS)	Constructor that creates the command with the below parameters.
ElevateToCmd(int id, T elevator, Height goalPositionM, boolean holdPositionAfter, double maxVelocityMPS, double toleranceM)	Constructor that creates the command with the below parameters.
ElevateToCmd(int id, T elevator, Height goalPositionM, boolean holdPositionAfter, double maxVelocityMPS, double lowerToleranceM, double upperToleranceM)	Constructor that creates the command with the below parameters.
ElevateToCmd(int id, T elevator, Height goalPosition, boolean holdPositionAfter, double maxVelocityMPS, double lowerToleranceM, double upperToleranceM, double requiredInToleranceDurationS)	Constructor that creates the command with the below parameters.
ElevateToCmd(T elevator, double goalPositionM, boolean holdPositionAfter, double maxVelocityMPS, double lowerToleranceM, double upperToleranceM, double requiredInToleranceDurationS)	Full constructor, with the below parameters.
ElevateToCmd(T elevator, Height goalPositionM)	Constructor that creates the command with the below parameters.
ElevateToCmd(T elevator, Height goalPositionM, boolean holdPositionAfter)	Constructor that creates the command with the below parameters.
ElevateToCmd(T elevator, Height goalPositionM, boolean holdPositionAfter, double maxVelocityMPS)	Constructor that creates the command with the below parameters.
ElevateToCmd(T elevator, Height goalPositionM, boolean holdPositionAfter, double maxVelocityMPS, double toleranceM)	Constructor that creates the command with the below parameters.
ElevateToCmd(T elevator, Height goalPositionM, boolean holdPositionAfter, double maxVelocityMPS, double lowerToleranceM, double upperToleranceM)	Constructor that creates the command with the below parameters.
ElevateToCmd(T elevator, Height goalPosition, boolean holdPositionAfter, double maxVelocityMPS, double lowerToleranceM, double upperToleranceM, double requiredInToleranceDurationS)	Constructor that creates the command with the below parameters.

Method Summary

Modifier and Type	Method	Description
void	end(boolean interrupted)
void	execute()
void	initialize()
boolean	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

ElevateToCmd

public ElevateToCmd(T elevator,
 Height goalPositionM)

Constructor that creates the command with the below parameters.

Parameters:

elevator - Tagalong Subsystem containing an elevator microsystem

goalPositionM - The target height for the elevator, in meters

ElevateToCmd

public ElevateToCmd(int id,
 T elevator,
 Height goalPositionM)

Constructor that creates the command with the below parameters.

Parameters:

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

elevator - Tagalong Subsystem containing an elevator microsystem

goalPositionM - The target height for the elevator, in meters

ElevateToCmd

public ElevateToCmd(T elevator,
 Height goalPositionM,
 boolean holdPositionAfter)

Constructor that creates the command with the below parameters.

Parameters:

elevator - Tagalong Subsystem containing an elevator microsystem

goalPositionM - The target height for the elevator, in meters

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

ElevateToCmd

public ElevateToCmd(int id,
 T elevator,
 Height goalPositionM,
 boolean holdPositionAfter)

Constructor that creates the command with the below parameters.

Parameters:

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

elevator - Tagalong Subsystem containing an elevator microsystem

goalPositionM - The target height for the elevator, in meters

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

ElevateToCmd

public ElevateToCmd(T elevator,
 Height goalPositionM,
 boolean holdPositionAfter,
 double maxVelocityMPS)

Constructor that creates the command with the below parameters.

Parameters:

elevator - Tagalong Subsystem containing an elevator microsystem

goalPositionM - The target height for the elevator, in meters

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

maxVelocityMPS - maximum velocity, in meters per second, the elevator can move

ElevateToCmd

public ElevateToCmd(int id,
 T elevator,
 Height goalPositionM,
 boolean holdPositionAfter,
 double maxVelocityMPS)

Constructor that creates the command with the below parameters.

Parameters:

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

elevator - Tagalong Subsystem containing an elevator microsystem

goalPositionM - The target height for the elevator, in meters

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

maxVelocityMPS - maximum velocity, in meters per second, the elevator can move

ElevateToCmd

public ElevateToCmd(T elevator,
 Height goalPositionM,
 boolean holdPositionAfter,
 double maxVelocityMPS,
 double toleranceM)

Constructor that creates the command with the below parameters.

Parameters:

elevator - Tagalong Subsystem containing an elevator microsystem

goalPositionM - The target height for the elevator, in meters

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

maxVelocityMPS - maximum velocity, in meters per second, the elevator can move

toleranceM - the desired tolerance for height, in meters

ElevateToCmd

public ElevateToCmd(int id,
 T elevator,
 Height goalPositionM,
 boolean holdPositionAfter,
 double maxVelocityMPS,
 double toleranceM)

Constructor that creates the command with the below parameters.

Parameters:

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

elevator - Tagalong Subsystem containing an elevator microsystem

goalPositionM - The target height for the elevator, in meters

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

maxVelocityMPS - maximum velocity, in meters per second, the elevator can move

toleranceM - the desired tolerance for height, in meters

ElevateToCmd

public ElevateToCmd(T elevator,
 Height goalPositionM,
 boolean holdPositionAfter,
 double maxVelocityMPS,
 double lowerToleranceM,
 double upperToleranceM)

Constructor that creates the command with the below parameters.

Parameters:

elevator - Tagalong Subsystem containing an elevator microsystem

goalPositionM - The target height for the elevator, in meters

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

maxVelocityMPS - maximum velocity, in meters per second, the elevator can move

lowerToleranceM - the lower bound for height tolerance, in meters

upperToleranceM - the upper bound for height tolerance, in meters

ElevateToCmd

public ElevateToCmd(int id,
 T elevator,
 Height goalPositionM,
 boolean holdPositionAfter,
 double maxVelocityMPS,
 double lowerToleranceM,
 double upperToleranceM)

Constructor that creates the command with the below parameters.

Parameters:

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

elevator - Tagalong Subsystem containing an elevator microsystem

goalPositionM - The target height for the elevator, in meters

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

maxVelocityMPS - maximum velocity, in meters per second, the elevator can move

lowerToleranceM - the lower bound for height tolerance, in meters

upperToleranceM - the upper bound for height tolerance, in meters

ElevateToCmd

public ElevateToCmd(T elevator,
 Height goalPosition,
 boolean holdPositionAfter,
 double maxVelocityMPS,
 double lowerToleranceM,
 double upperToleranceM,
 double requiredInToleranceDurationS)

Constructor that creates the command with the below parameters.

Parameters:

elevator - Tagalong Subsystem containing an elevator microsystem

goalPosition - The target height for the elevator

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

maxVelocityMPS - maximum velocity, in meters per second, the elevator can move

lowerToleranceM - the lower bound for height tolerance, in meters

upperToleranceM - the upper bound for height tolerance, in meters

requiredInToleranceDurationS - the duration (in seconds) the elevator must stay in tolerance

ElevateToCmd

public ElevateToCmd(int id,
 T elevator,
 Height goalPosition,
 boolean holdPositionAfter,
 double maxVelocityMPS,
 double lowerToleranceM,
 double upperToleranceM,
 double requiredInToleranceDurationS)

Constructor that creates the command with the below parameters.

Parameters:

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

elevator - Tagalong Subsystem containing an elevator microsystem

goalPosition - The target height for the elevator

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

maxVelocityMPS - maximum velocity, in meters per second, the elevator can move

lowerToleranceM - the lower bound for height tolerance, in meters

upperToleranceM - the upper bound for height tolerance, in meters

requiredInToleranceDurationS - the duration (in seconds) the elevator must stay in tolerance

ElevateToCmd

public ElevateToCmd(T elevator,
 double goalPositionM,
 boolean holdPositionAfter,
 double maxVelocityMPS,
 double lowerToleranceM,
 double upperToleranceM,
 double requiredInToleranceDurationS)

Full constructor, with the below parameters. Allows for double for goal in rare cases of advance use needing a direct way to interact

Parameters:

elevator - Tagalong Subsystem containing an elevator microsystem

goalPositionM - The target height for the elevator, in meters, as a double

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

maxVelocityMPS - maximum velocity, in meters per second, the elevator can move

lowerToleranceM - the lower bound for height tolerance, in meters

upperToleranceM - the upper bound for height tolerance, in meters

requiredInToleranceDurationS - the duration (in seconds) the elevator must stay in tolerance

ElevateToCmd

public ElevateToCmd(int id,
 T elevator,
 double goalPositionM,
 boolean holdPositionAfter,
 double maxVelocityMPS,
 double lowerToleranceM,
 double upperToleranceM,
 double requiredInToleranceDurationS)

Full constructor, with the below parameters. Allows for double for goal in rare cases of advance use needing a direct way to interact

Parameters:

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

elevator - Tagalong Subsystem containing an elevator microsystem

goalPositionM - The target height for the elevator, in meters, as a double.

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

maxVelocityMPS - maximum velocity, in meters per second, the elevator can move

lowerToleranceM - the lower bound for height tolerance, in meters

upperToleranceM - the upper bound for height tolerance, in meters

requiredInToleranceDurationS - the duration (in seconds) the elevator must stay in tolerance

Method Details

initialize

public void initialize()

Overrides:

initialize in class Command

execute

public void execute()

Overrides:

execute in class Command

end

public void end(boolean interrupted)

Overrides:

end in class Command

isFinished

public boolean isFinished()

Overrides:

isFinished in class Command