Package tagalong.commands.base

Class PivotToAbsoluteCmd<T extends TagalongSubsystemBase & PivotAugment>

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

tagalong.commands.TagalongCommand

tagalong.commands.base.PivotToAbsoluteCmd<T>

All Implemented Interfaces:

Sendable

public class PivotToAbsoluteCmd<T extends TagalongSubsystemBase & PivotAugment>
extends TagalongCommand

PivotToCommand with optimal pathing

Nested Class Summary

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

Command.InterruptionBehavior

Constructor Summary

Constructors

Constructor	Description
PivotToAbsoluteCmd(int id, T pivot, double goalPositionRot, boolean holdPositionAfter, double maxVelocityRPS, double lowerToleranceRot, double upperToleranceRot, double requiredInToleranceDurationS)	Full constructor, allows for double for goal position (rotations) in rare cases of advance use needing a direct way to interact
PivotToAbsoluteCmd(int id, T pivot, Angle goalPosition)	Constructor that creates the command with the below parameters.
PivotToAbsoluteCmd(int id, T pivot, Angle goalPosition, boolean holdPositionAfter)	Constructor that creates the command with the below parameters.
PivotToAbsoluteCmd(int id, T pivot, Angle goalPosition, boolean holdPositionAfter, double maxVelocityRPS)	Constructor that creates the command with the below parameters.
PivotToAbsoluteCmd(int id, T pivot, Angle goalPosition, boolean holdPositionAfter, double maxVelocityRPS, double toleranceRot)	Constructor that creates the command with the below parameters.
PivotToAbsoluteCmd(int id, T pivot, Angle goalPosition, boolean holdPositionAfter, double maxVelocityRPS, double lowerToleranceRot, double upperToleranceRot)	Constructor with ID for specifying pivot but no in tolerance duration requirement
PivotToAbsoluteCmd(int id, T pivot, Angle goalPosition, boolean holdPositionAfter, double maxVelocityRPS, double lowerToleranceRot, double upperToleranceRot, double requiredInToleranceDurationS)	Full constructor with ID for specifying pivot
PivotToAbsoluteCmd(T pivot, double goalPositionRot, boolean holdPositionAfter, double maxVelocityRPS, double lowerToleranceRot, double upperToleranceRot, double requiredInToleranceDurationS)	Full constructor, allows for double for goal position (rotations) in rare cases of advance use needing a direct way to interact
PivotToAbsoluteCmd(T pivot, Angle goalPosition)	Constructor that creates the command with the below parameters.
PivotToAbsoluteCmd(T pivot, Angle goalPosition, boolean holdPositionAfter)	Constructor that creates the command with the below parameters.
PivotToAbsoluteCmd(T pivot, Angle goalPosition, boolean holdPositionAfter, double maxVelocityRPS)	Constructor that creates the command with the below parameters.
PivotToAbsoluteCmd(T pivot, Angle goalPosition, boolean holdPositionAfter, double maxVelocityRPS, double toleranceRot)	Constructor that creates the command with the below parameters.
PivotToAbsoluteCmd(T pivot, Angle goalPosition, boolean holdPositionAfter, double maxVelocityRPS, double lowerToleranceRot, double upperToleranceRot)	Constructor with no in tolerance duration requirement
PivotToAbsoluteCmd(T pivot, Angle goalPosition, boolean holdPositionAfter, double maxVelocityRPS, double lowerToleranceRot, double upperToleranceRot, double requiredInToleranceDurationS)	Full constructor

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

PivotToAbsoluteCmd

public PivotToAbsoluteCmd(T pivot,
 Angle goalPosition)

Constructor that creates the command with the below parameters.

Parameters:

pivot - Tagalong Subsystem containing a pivot microsystem

goalPosition - The goal position to reach

PivotToAbsoluteCmd

public PivotToAbsoluteCmd(int id,
 T pivot,
 Angle goalPosition)

Constructor that creates the command with the below parameters.

Parameters:

id - The pivot integer ID

pivot - Tagalong Subsystem containing a pivot microsystem

goalPosition - The goal position to reach

PivotToAbsoluteCmd

public PivotToAbsoluteCmd(T pivot,
 Angle goalPosition,
 boolean holdPositionAfter)

Constructor that creates the command with the below parameters.

Parameters:

pivot - Tagalong Subsystem containing a pivot microsystem

goalPosition - The goal position to reach

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

PivotToAbsoluteCmd

public PivotToAbsoluteCmd(int id,
 T pivot,
 Angle goalPosition,
 boolean holdPositionAfter)

Constructor that creates the command with the below parameters.

Parameters:

id - The pivot integer ID

pivot - Tagalong Subsystem containing a pivot microsystem

goalPosition - The goal position to reach

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

PivotToAbsoluteCmd

public PivotToAbsoluteCmd(T pivot,
 Angle goalPosition,
 boolean holdPositionAfter,
 double maxVelocityRPS)

Constructor that creates the command with the below parameters.

Parameters:

pivot - Tagalong Subsystem containing a pivot microsystem

goalPosition - The goal position to reach

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

PivotToAbsoluteCmd

public PivotToAbsoluteCmd(int id,
 T pivot,
 Angle goalPosition,
 boolean holdPositionAfter,
 double maxVelocityRPS)

Constructor that creates the command with the below parameters.

Parameters:

id - The pivot integer ID

pivot - Tagalong Subsystem containing a pivot microsystem

goalPosition - The goal position to reach

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

PivotToAbsoluteCmd

public PivotToAbsoluteCmd(T pivot,
 Angle goalPosition,
 boolean holdPositionAfter,
 double maxVelocityRPS,
 double toleranceRot)

Constructor that creates the command with the below parameters.

Parameters:

pivot - Tagalong Subsystem containing a pivot microsystem

goalPosition - The goal position to reach

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

toleranceRot - The number of rotations below or beyond the target position the pivot can be while still being considered in tolerance

PivotToAbsoluteCmd

public PivotToAbsoluteCmd(int id,
 T pivot,
 Angle goalPosition,
 boolean holdPositionAfter,
 double maxVelocityRPS,
 double toleranceRot)

Constructor that creates the command with the below parameters.

Parameters:

id - The pivot integer ID

pivot - Tagalong Subsystem containing a pivot microsystem

goalPosition - The goal position to reach

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

toleranceRot - The number of rotations below or beyond the target position the pivot can be while still being considered in tolerance

PivotToAbsoluteCmd

public PivotToAbsoluteCmd(T pivot,
 Angle goalPosition,
 boolean holdPositionAfter,
 double maxVelocityRPS,
 double lowerToleranceRot,
 double upperToleranceRot)

Constructor with no in tolerance duration requirement

Parameters:

pivot - Tagalong Subsystem containing a pivot microsystem

goalPosition - The goal position to reach

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

lowerToleranceRot - The number of rotations below the target position the pivot can be while still being considered in tolerance

upperToleranceRot - The number of rotations beyond the target position the pivot can be while still being considered in tolerance

PivotToAbsoluteCmd

public PivotToAbsoluteCmd(int id,
 T pivot,
 Angle goalPosition,
 boolean holdPositionAfter,
 double maxVelocityRPS,
 double lowerToleranceRot,
 double upperToleranceRot)

Constructor with ID for specifying pivot but no in tolerance duration requirement

Parameters:

id - The pivot integer ID

pivot - Tagalong Subsystem containing a pivot microsystem

goalPosition - The goal position to reach

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

lowerToleranceRot - The number of rotations below the target position the pivot can be while still being considered in tolerance

upperToleranceRot - The number of rotations beyond the target position the pivot can be while still being considered in tolerance

PivotToAbsoluteCmd

public PivotToAbsoluteCmd(T pivot,
 Angle goalPosition,
 boolean holdPositionAfter,
 double maxVelocityRPS,
 double lowerToleranceRot,
 double upperToleranceRot,
 double requiredInToleranceDurationS)

Full constructor

Parameters:

pivot - Tagalong Subsystem containing a pivot microsystem

goalPosition - The goal position to reach

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

upperToleranceRot - The number of rotations beyond the target position the pivot can be while still being considered in tolerance

lowerToleranceRot - The number of rotations below the target position the pivot can be while still being considered in tolerance

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

PivotToAbsoluteCmd

public PivotToAbsoluteCmd(int id,
 T pivot,
 Angle goalPosition,
 boolean holdPositionAfter,
 double maxVelocityRPS,
 double lowerToleranceRot,
 double upperToleranceRot,
 double requiredInToleranceDurationS)

Full constructor with ID for specifying pivot

Parameters:

id - The pivot integer ID

pivot - Tagalong Subsystem containing a pivot microsystem

goalPosition - The goal position to reach

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

lowerToleranceRot - The number of rotations below the target position the pivot can be while still being considered in tolerance

upperToleranceRot - The number of rotations beyond the target position the pivot can be while still being considered in tolerance

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

PivotToAbsoluteCmd

public PivotToAbsoluteCmd(T pivot,
 double goalPositionRot,
 boolean holdPositionAfter,
 double maxVelocityRPS,
 double lowerToleranceRot,
 double upperToleranceRot,
 double requiredInToleranceDurationS)

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

Parameters:

pivot - Tagalong Subsystem containing a pivot microsystem

goalPositionRot - The goal position to reach, in rotations

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

lowerToleranceRot - The number of rotations below the target position the pivot can be while still being considered in tolerance

upperToleranceRot - The number of rotations beyond the target position the pivot can be while still being considered in tolerance

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

PivotToAbsoluteCmd

public PivotToAbsoluteCmd(int id,
 T pivot,
 double goalPositionRot,
 boolean holdPositionAfter,
 double maxVelocityRPS,
 double lowerToleranceRot,
 double upperToleranceRot,
 double requiredInToleranceDurationS)

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

Parameters:

id - The pivot integer ID

pivot - Tagalong Subsystem containing a pivot microsystem

goalPositionRot - The goal position to reach, in rotations

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

lowerToleranceRot - The number of rotations below the target position the pivot can be while still being considered in tolerance

upperToleranceRot - The number of rotations beyond the target position the pivot can be while still being considered in tolerance

requiredInToleranceDurationS - the duration (in seconds) the pivot 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