Package tagalong.commands.base

Class PivotToDynamicCmd<T extends TagalongSubsystemBase & PivotAugment>

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

tagalong.commands.TagalongCommand

tagalong.commands.base.PivotToDynamicCmd<T>

All Implemented Interfaces:

Sendable

Direct Known Subclasses:

PivotAimAtCmd, PivotAimAtYawCompCmd

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

Command that continuously moves the pivot to the goal supplier's target position

Nested Class Summary

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

Command.InterruptionBehavior

Constructor Summary

Constructors

Constructor	Description
PivotToDynamicCmd(int id, T pivot, DoubleSupplier goalSupplierRot)	Continuously move to the double suppliers target position.
PivotToDynamicCmd(int id, T pivot, DoubleSupplier goalSupplierRot, boolean holdPositionAfter)	Continuously move to the double suppliers target position.
PivotToDynamicCmd(int id, T pivot, DoubleSupplier goalSupplierRot, boolean holdPositionAfter, double maxVelocityRPS)	Continuously move to the double suppliers target position.
PivotToDynamicCmd(int id, T pivot, DoubleSupplier goalSupplierRot, boolean holdPositionAfter, double maxVelocityRPS, BooleanSupplier startSupplier)	Continuously move to the double suppliers target position.
PivotToDynamicCmd(T pivot, DoubleSupplier goalSupplierRot)	Continuously move to the double suppliers target position.
PivotToDynamicCmd(T pivot, DoubleSupplier goalSupplierRot, boolean holdPositionAfter)	Continuously move to the double suppliers target position.
PivotToDynamicCmd(T pivot, DoubleSupplier goalSupplierRot, boolean holdPositionAfter, double maxVelocityRPS)	Continuously move to the double suppliers target position.
PivotToDynamicCmd(T pivot, DoubleSupplier goalSupplierRot, boolean holdPositionAfter, double maxVelocityRPS, 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

PivotToDynamicCmd

public PivotToDynamicCmd(int id,
 T pivot,
 DoubleSupplier goalSupplierRot,
 boolean holdPositionAfter,
 double maxVelocityRPS,
 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 pivot microsystem inside the Tagalong Subsystem

pivot - Tagalong Subsystem containing an pivot microsystem

goalSupplierRot - DoubleSupplier for the pivot rotation

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

maxVelocityRPS - Maximum velocity for the pivot during this command

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

PivotToDynamicCmd

public PivotToDynamicCmd(T pivot,
 DoubleSupplier goalSupplierRot,
 boolean holdPositionAfter,
 double maxVelocityRPS,
 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:

pivot - Tagalong Subsystem containing an pivot microsystem

goalSupplierRot - DoubleSupplier for the pivot rotation

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

maxVelocityRPS - Maximum velocity for the pivot during this command

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

PivotToDynamicCmd

public PivotToDynamicCmd(int id,
 T pivot,
 DoubleSupplier goalSupplierRot,
 boolean holdPositionAfter,
 double maxVelocityRPS)

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 pivot microsystem inside the Tagalong Subsystem

pivot - Tagalong Subsystem containing an pivot microsystem

goalSupplierRot - DoubleSupplier for the pivot rotation

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

maxVelocityRPS - Maximum velocity for the pivot during this command

PivotToDynamicCmd

public PivotToDynamicCmd(T pivot,
 DoubleSupplier goalSupplierRot,
 boolean holdPositionAfter,
 double maxVelocityRPS)

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:

pivot - Tagalong Subsystem containing an pivot microsystem

goalSupplierRot - DoubleSupplier for the pivot rotation

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

maxVelocityRPS - Maximum velocity for the pivot during this command

PivotToDynamicCmd

public PivotToDynamicCmd(int id,
 T pivot,
 DoubleSupplier goalSupplierRot,
 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 pivot microsystem inside the Tagalong Subsystem

pivot - Tagalong Subsystem containing an pivot microsystem

goalSupplierRot - DoubleSupplier for the pivot rotation

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

PivotToDynamicCmd

public PivotToDynamicCmd(T pivot,
 DoubleSupplier goalSupplierRot,
 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:

pivot - Tagalong Subsystem containing an pivot microsystem

goalSupplierRot - DoubleSupplier for the pivot rotation

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

PivotToDynamicCmd

public PivotToDynamicCmd(int id,
 T pivot,
 DoubleSupplier goalSupplierRot)

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 pivot microsystem inside the Tagalong Subsystem

pivot - Tagalong Subsystem containing an pivot microsystem

goalSupplierRot - DoubleSupplier for the pivot rotation

PivotToDynamicCmd

public PivotToDynamicCmd(T pivot,
 DoubleSupplier goalSupplierRot)

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:

pivot - Tagalong Subsystem containing an pivot microsystem

goalSupplierRot - DoubleSupplier for the pivot rotation

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