Package tagalong.commands.base

Class ElevateToDynamicCmd<T extends TagalongSubsystemBase & ElevatorAugment>

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

tagalong.commands.TagalongCommand

tagalong.commands.base.ElevateToDynamicCmd<T>

All Implemented Interfaces:

Sendable

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

Command for the elevator to continuously move towards the goal supplier's target height

Nested Class Summary

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

Command.InterruptionBehavior

Constructor Summary

Constructors

Constructor	Description
ElevateToDynamicCmd(int id, T elevator, DoubleSupplier goalSupplierM)	Continuously move to the double suppliers target position.
ElevateToDynamicCmd(int id, T elevator, DoubleSupplier goalSupplierM, boolean holdPositionAfter)	Continuously move to the double suppliers target position.
ElevateToDynamicCmd(int id, T elevator, DoubleSupplier goalSupplierM, boolean holdPositionAfter, double maxVelocityMPS)	Continuously move to the double suppliers target position.
ElevateToDynamicCmd(int id, T elevator, DoubleSupplier goalSupplierM, boolean holdPositionAfter, double maxVelocityMPS, BooleanSupplier startSupplier)	Continuously move to the double suppliers target position.
ElevateToDynamicCmd(T elevator, DoubleSupplier goalSupplierM)	Continuously move to the double suppliers target position.
ElevateToDynamicCmd(T elevator, DoubleSupplier goalSupplierM, boolean holdPositionAfter)	Continuously move to the double suppliers target position.
ElevateToDynamicCmd(T elevator, DoubleSupplier goalSupplierM, boolean holdPositionAfter, double maxVelocityMPS)	Continuously move to the double suppliers target position.
ElevateToDynamicCmd(T elevator, DoubleSupplier goalSupplierM, boolean holdPositionAfter, double maxVelocityMPS, BooleanSupplier startSupplier)	Continuously move to the double suppliers target position.

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

ElevateToDynamicCmd

public ElevateToDynamicCmd(int id,
 T elevator,
 DoubleSupplier goalSupplierM,
 boolean holdPositionAfter,
 double maxVelocityMPS,
 BooleanSupplier startSupplier)

Continuously move to the double suppliers target position. The function is continuous, it has no end condition, so the user must interrupt the command or decorate the command with an end condition. Useful for dynamic movements that are dependent on sensor readings, field conditions, or driver configurations.

Parameters:

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

elevator - Tagalong Subsystem containing an elevator microsystem

goalSupplierM - DoubleSupplier for the elevator height

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

maxVelocityMPS - Maximum velocity for the elevator during this command

startSupplier - BooleanSupplier condition for movement to start, defaults to elevator::isSafeToMove

ElevateToDynamicCmd

public ElevateToDynamicCmd(T elevator,
 DoubleSupplier goalSupplierM,
 boolean holdPositionAfter,
 double maxVelocityMPS,
 BooleanSupplier startSupplier)

Continuously move to the double suppliers target position. The function is continuous, it has no end condition, so the user must interrupt the command or decorate the command with an end condition. Useful for dynamic movements that are dependent on sensor readings, field conditions, or driver configurations.

Parameters:

elevator - Tagalong Subsystem containing an elevator microsystem

goalSupplierM - DoubleSupplier for the elevator height

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

maxVelocityMPS - Maximum velocity for the elevator during this command

startSupplier - BooleanSupplier condition for movement to start, defaults to elevator::isSafeToMove

ElevateToDynamicCmd

public ElevateToDynamicCmd(int id,
 T elevator,
 DoubleSupplier goalSupplierM,
 boolean holdPositionAfter,
 double maxVelocityMPS)

Continuously move to the double suppliers target position. The function is continuous, it has no end condition, so the user must interrupt the command or decorate the command with an end condition. Useful for dynamic movements that are dependent on sensor readings, field conditions, or driver configurations.

Parameters:

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

elevator - Tagalong Subsystem containing an elevator microsystem

goalSupplierM - DoubleSupplier for the elevator height

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

maxVelocityMPS - Maximum velocity for the elevator during this command

ElevateToDynamicCmd

public ElevateToDynamicCmd(T elevator,
 DoubleSupplier goalSupplierM,
 boolean holdPositionAfter,
 double maxVelocityMPS)

Continuously move to the double suppliers target position. The function is continuous, it has no end condition, so the user must interrupt the command or decorate the command with an end condition. Useful for dynamic movements that are dependent on sensor readings, field conditions, or driver configurations.

Parameters:

elevator - Tagalong Subsystem containing an elevator microsystem

goalSupplierM - DoubleSupplier for the elevator height

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

maxVelocityMPS - Maximum velocity for the elevator during this command

ElevateToDynamicCmd

public ElevateToDynamicCmd(int id,
 T elevator,
 DoubleSupplier goalSupplierM,
 boolean holdPositionAfter)

Continuously move to the double suppliers target position. The function is continuous, it has no end condition, so the user must interrupt the command or decorate the command with an end condition. Useful for dynamic movements that are dependent on sensor readings, field conditions, or driver configurations.

Parameters:

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

elevator - Tagalong Subsystem containing an elevator microsystem

goalSupplierM - DoubleSupplier for the elevator height

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

ElevateToDynamicCmd

public ElevateToDynamicCmd(T elevator,
 DoubleSupplier goalSupplierM,
 boolean holdPositionAfter)

Continuously move to the double suppliers target position. The function is continuous, it has no end condition, so the user must interrupt the command or decorate the command with an end condition. Useful for dynamic movements that are dependent on sensor readings, field conditions, or driver configurations.

Parameters:

elevator - Tagalong Subsystem containing an elevator microsystem

goalSupplierM - DoubleSupplier for the elevator height

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

ElevateToDynamicCmd

public ElevateToDynamicCmd(int id,
 T elevator,
 DoubleSupplier goalSupplierM)

Continuously move to the double suppliers target position. The function is continuous, it has no end condition, so the user must interrupt the command or decorate the command with an end condition. Useful for dynamic movements that are dependent on sensor readings, field conditions, or driver configurations.

Parameters:

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

elevator - Tagalong Subsystem containing an elevator microsystem

goalSupplierM - DoubleSupplier for the elevator height

ElevateToDynamicCmd

public ElevateToDynamicCmd(T elevator,
 DoubleSupplier goalSupplierM)

Continuously move to the double suppliers target position. The function is continuous, it has no end condition, so the user must interrupt the command or decorate the command with an end condition. Useful for dynamic movements that are dependent on sensor readings, field conditions, or driver configurations.

Parameters:

elevator - Tagalong Subsystem containing an elevator microsystem

goalSupplierM - DoubleSupplier for the elevator height

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