Package tagalong.commands.base

Class PivotToCmd<T extends TagalongSubsystemBase & PivotAugment>

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

tagalong.commands.TagalongCommand

tagalong.commands.base.PivotToCmd<T>

All Implemented Interfaces:

Sendable

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

Command that moves the pivot absolutely to the desired position

Nested Class Summary

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

Command.InterruptionBehavior

Constructor Summary

Constructors

Constructor	Description
PivotToCmd(int id, T pivot, double goalPosition, boolean holdPositionAfter, double maxVelocityRPS, double lowerToleranceRot, double upperToleranceRot, double requiredInToleranceDurationS)	Full constructor, allows for double for goal in rare cases of advance use needing a direct way to interact
PivotToCmd(int id, T pivot, Angle goalPosition)	Constructor with default to hold position after
PivotToCmd(int id, T pivot, Angle goalPosition, boolean holdPositionAfter)	Constructor that creates the command with the below parameters.
PivotToCmd(int id, T pivot, Angle goalPosition, boolean holdPositionAfter, double maxVelocityRPS)	Constructor that creates the command with the below parameters.
PivotToCmd(int id, T pivot, Angle goalPosition, boolean holdPositionAfter, double maxVelocityRPS, double toleranceRot)	Constructor that creates the command with the below parameters.
PivotToCmd(int id, T pivot, Angle goalPosition, boolean holdPositionAfter, double maxVelocityRPS, double lowerToleranceRot, double upperToleranceRot)	Constructor that creates the command with the below parameters.
PivotToCmd(int id, T pivot, Angle goalPosition, boolean holdPositionAfter, double maxVelocityRPS, double lowerToleranceRot, double upperToleranceRot, double requiredInToleranceDurationS)	Constructor that creates the command with the below parameters.
PivotToCmd(T pivot, double goalPosition, boolean holdPositionAfter, double maxVelocityRPS, double lowerToleranceRot, double upperToleranceRot, double requiredInToleranceDurationS)	Full constructor, allows for double for goal in rare cases of advance use needing a direct way to interact
PivotToCmd(T pivot, Angle goalPosition)	Constructor with default to hold position after
PivotToCmd(T pivot, Angle goalPosition, boolean holdPositionAfter)	Constructor that creates the command with the below parameters.
PivotToCmd(T pivot, Angle goalPosition, boolean holdPositionAfter, double maxVelocityRPS)	Constructor that creates the command with the below parameters.
PivotToCmd(T pivot, Angle goalPosition, boolean holdPositionAfter, double maxVelocityRPS, double toleranceRot)	Constructor that creates the command with the below parameters.
PivotToCmd(T pivot, Angle goalPosition, boolean holdPositionAfter, double maxVelocityRPS, double lowerToleranceRot, double upperToleranceRot)	Constructor that creates the command with the below parameters.
PivotToCmd(T pivot, Angle goalPosition, boolean holdPositionAfter, double maxVelocityRPS, double lowerToleranceRot, double upperToleranceRot, 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

PivotToCmd

public PivotToCmd(T pivot,
 Angle goalPosition)

Constructor with default to hold position after

Parameters:

pivot - Tagalong Subsystem containing a pivot microsystem

goalPosition - Goal pivot position

PivotToCmd

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

Constructor with default to hold position after

Parameters:

id - The pivot integer ID

pivot - Tagalong Subsystem containing a pivot microsystem

goalPosition - Goal pivot positon

PivotToCmd

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

Constructor that creates the command with the below parameters.

Parameters:

pivot - Tagalong Subsystem containing a pivot microsystem

goalPosition - Goal pivot positon

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

PivotToCmd

public PivotToCmd(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 - Goal pivot positon

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

PivotToCmd

public PivotToCmd(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 - Goal pivot positon

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

PivotToCmd

public PivotToCmd(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 - Goal pivot positon

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

PivotToCmd

public PivotToCmd(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 - Goal pivot positon

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 short of or beyond the target position the pivot can be while still being considered in tolerance

PivotToCmd

public PivotToCmd(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 - Goal pivot positon

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 short of or beyond the target position the pivot can be while still being considered in tolerance

PivotToCmd

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

Constructor that creates the command with the below parameters.

Parameters:

pivot - Tagalong Subsystem containing a pivot microsystem

goalPosition - Goal pivot positon

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 short of 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

PivotToCmd

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

Constructor that creates the command with the below parameters.

Parameters:

id - The pivot integer ID

pivot - Tagalong Subsystem containing a pivot microsystem

goalPosition - Goal pivot positon

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 short of 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

PivotToCmd

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

Constructor that creates the command with the below parameters.

Parameters:

pivot - Tagalong Subsystem containing a pivot microsystem

goalPosition - Goal pivot positon

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 short of the target position the pivot can be while still being considered in tolerance

requiredInToleranceDurationS - The number of seconds that being in tolerance is required for

PivotToCmd

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

Constructor that creates the command with the below parameters.

Parameters:

id - The pivot integer ID

pivot - Tagalong Subsystem containing a pivot microsystem

goalPosition - Goal pivot positon

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 short of 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 number of seconds that being in tolerance is required for

PivotToCmd

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

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

Parameters:

pivot - Tagalong Subsystem containing a pivot microsystem

goalPosition - Goal pivot positon

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 short of 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 number of seconds that being in tolerance is required for

PivotToCmd

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

Full constructor, allows for double for goal 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

goalPosition - Goal pivot positon

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 short of 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 number of seconds that being in tolerance is required for

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