Package tagalong.commands.base

Class ElevateXCmd<T extends TagalongSubsystemBase & ElevatorAugment>

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

tagalong.commands.TagalongCommand

tagalong.commands.base.ElevateXCmd<T>

All Implemented Interfaces:

Sendable

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

Command that raises elevator by a target height based on specified parameters.

Nested Class Summary

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

Command.InterruptionBehavior

Constructor Summary

Constructors

Constructor	Description
ElevateXCmd(int id, T elevator, double relativeMovementM, boolean holdPositionAfter, double maxVelocityMPS, double lowerToleranceM, double upperToleranceM, double requiredInToleranceDurationS)	Full constructor, allows for double for goal in rare cases of advance use needing a direct way to interact
ElevateXCmd(int id, T elevator, Height relativeMovementM)	Constructor that creates the command with the below parameters.
ElevateXCmd(int id, T elevator, Height relativeMovementM, boolean holdPositionAfter)	Constructor that creates the command with the below parameters.
ElevateXCmd(int id, T elevator, Height relativeMovementM, boolean holdPositionAfter, double maxVelocityMPS)	Constructor that creates the command with the below parameters.
ElevateXCmd(int id, T elevator, Height relativeMovementM, boolean holdPositionAfter, double maxVelocityMPS, double toleranceM)	Constructor that creates the command with the below parameters.
ElevateXCmd(int id, T elevator, Height relativeMovementM, boolean holdPositionAfter, double maxVelocityMPS, double lowerToleranceM, double upperToleranceM)	Constructor that creates the command with the below parameters.
ElevateXCmd(int id, T elevator, Height relativeMovement, boolean holdPositionAfter, double maxVelocityMPS, double lowerToleranceM, double upperToleranceM, double requiredInToleranceDurationS)	Constructor that creates the command with the below parameters.
ElevateXCmd(T elevator, double relativeMovementM, boolean holdPositionAfter, double maxVelocityMPS, double lowerToleranceM, double upperToleranceM, double requiredInToleranceDurationS)	Full constructor, allows for double for goal in rare cases of advance use needing a direct way to interact
ElevateXCmd(T elevator, Height relativeMovementM)	Constructor that creates the command with the below parameters.
ElevateXCmd(T elevator, Height relativeMovementM, boolean holdPositionAfter)	Constructor that creates the command with the below parameters.
ElevateXCmd(T elevator, Height relativeMovementM, boolean holdPositionAfter, double maxVelocityMPS)	Constructor that creates the command with the below parameters.
ElevateXCmd(T elevator, Height relativeMovementM, boolean holdPositionAfter, double maxVelocityMPS, double toleranceM)	Constructor that creates the command with the below parameters.
ElevateXCmd(T elevator, Height relativeMovementM, boolean holdPositionAfter, double maxVelocityMPS, double lowerToleranceM, double upperToleranceM)	Constructor that creates the command with the below parameters.
ElevateXCmd(T elevator, Height relativeMovement, 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

ElevateXCmd

public ElevateXCmd(T elevator,
 Height relativeMovementM)

Constructor that creates the command with the below parameters.

Parameters:

elevator - Tagalong Subsystem containing an elevator microsystem

relativeMovementM - the target amount to move, in meters

ElevateXCmd

public ElevateXCmd(int id,
 T elevator,
 Height relativeMovementM)

Constructor that creates the command with the below parameters.

Parameters:

id - Tagalong Subsystem containing an elevator microsystem

elevator - Tagalong Subsystem containing an elevator microsystem

relativeMovementM - the target amount to move, in meters

ElevateXCmd

public ElevateXCmd(T elevator,
 Height relativeMovementM,
 boolean holdPositionAfter)

Constructor that creates the command with the below parameters.

Parameters:

elevator - Tagalong Subsystem containing an elevator microsystem

relativeMovementM - the target amount to move, in meters

holdPositionAfter - whether or not the elevator must hold position after reaching target

ElevateXCmd

public ElevateXCmd(int id,
 T elevator,
 Height relativeMovementM,
 boolean holdPositionAfter)

Constructor that creates the command with the below parameters.

Parameters:

id - Tagalong Subsystem containing an elevator microsystem

elevator - Tagalong Subsystem containing an elevator microsystem

relativeMovementM - the target amount to move, in meters

holdPositionAfter - whether or not the elevator must hold position after reaching target

ElevateXCmd

public ElevateXCmd(T elevator,
 Height relativeMovementM,
 boolean holdPositionAfter,
 double maxVelocityMPS)

Constructor that creates the command with the below parameters.

Parameters:

elevator - Tagalong Subsystem containing an elevator microsystem

relativeMovementM - the target amount to move, in meters

holdPositionAfter - whether or not the elevator must hold position after reaching target

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

ElevateXCmd

public ElevateXCmd(int id,
 T elevator,
 Height relativeMovementM,
 boolean holdPositionAfter,
 double maxVelocityMPS)

Constructor that creates the command with the below parameters.

Parameters:

id - Tagalong Subsystem containing an elevator microsystem

elevator - Tagalong Subsystem containing an elevator microsystem

relativeMovementM - the target amount to move, in meters

holdPositionAfter - whether or not the elevator must hold position after reaching target

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

ElevateXCmd

public ElevateXCmd(T elevator,
 Height relativeMovementM,
 boolean holdPositionAfter,
 double maxVelocityMPS,
 double toleranceM)

Constructor that creates the command with the below parameters.

Parameters:

elevator - Tagalong Subsystem containing an elevator microsystem

relativeMovementM - the target amount to move, in meters

holdPositionAfter - whether or not the elevator must hold position after reaching target

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

toleranceM - the desired tolerance for height, in meters

ElevateXCmd

public ElevateXCmd(int id,
 T elevator,
 Height relativeMovementM,
 boolean holdPositionAfter,
 double maxVelocityMPS,
 double toleranceM)

Constructor that creates the command with the below parameters.

Parameters:

id - Tagalong Subsystem containing an elevator microsystem

elevator - Tagalong Subsystem containing an elevator microsystem

relativeMovementM - the target amount to move, in meters

holdPositionAfter - whether or not the elevator must hold position after reaching target

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

toleranceM - the desired tolerance for height, in meters

ElevateXCmd

public ElevateXCmd(T elevator,
 Height relativeMovementM,
 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

relativeMovementM - the target amount to move, in meters

holdPositionAfter - whether or not the elevator must hold position after reaching target

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

ElevateXCmd

public ElevateXCmd(int id,
 T elevator,
 Height relativeMovementM,
 boolean holdPositionAfter,
 double maxVelocityMPS,
 double lowerToleranceM,
 double upperToleranceM)

Constructor that creates the command with the below parameters.

Parameters:

id - Tagalong Subsystem containing an elevator microsystem

elevator - Tagalong Subsystem containing an elevator microsystem

relativeMovementM - the target amount to move, in meters

holdPositionAfter - whether or not the elevator must hold position after reaching target

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

ElevateXCmd

public ElevateXCmd(T elevator,
 Height relativeMovement,
 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

relativeMovement - the target amount to move

holdPositionAfter - whether or not the elevator must hold position after reaching target

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

ElevateXCmd

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

Constructor that creates the command with the below parameters.

Parameters:

id - Tagalong Subsystem containing an elevator microsystem

elevator - Tagalong Subsystem containing an elevator microsystem

relativeMovement - the target amount to move

holdPositionAfter - whether or not the elevator must hold position after reaching target

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

ElevateXCmd

public ElevateXCmd(T elevator,
 double relativeMovementM,
 boolean holdPositionAfter,
 double maxVelocityMPS,
 double lowerToleranceM,
 double upperToleranceM,
 double requiredInToleranceDurationS)

Full constructor, 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

relativeMovementM - the target amount to move, in meters

holdPositionAfter - whether or not the elevator must hold position after reaching target

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

ElevateXCmd

public ElevateXCmd(int id,
 T elevator,
 double relativeMovementM,
 boolean holdPositionAfter,
 double maxVelocityMPS,
 double lowerToleranceM,
 double upperToleranceM,
 double requiredInToleranceDurationS)

Full constructor, allows for double for goal in rare cases of advance use needing a direct way to interact

Parameters:

id - Tagalong Subsystem containing an elevator microsystem

elevator - Tagalong Subsystem containing an elevator microsystem

relativeMovementM - the target amount to move, in meters

holdPositionAfter - whether or not the elevator must hold position after reaching target

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