Package tagalong.commands.base

Class PivotXCmd<T extends TagalongSubsystemBase & PivotAugment>

java.lang.Object
edu.wpi.first.wpilibj2.command.Command
tagalong.commands.TagalongCommand
tagalong.commands.base.PivotXCmd<T>
All Implemented Interfaces:
Sendable
public class PivotXCmd<T extends TagalongSubsystemBase & PivotAugment> extends TagalongCommand
Command that rotates pivot by a target angle 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
    PivotXCmd(int id, T pivot, double relativeMovementRot, boolean holdPositionAfter, double maxVelocityRPS, 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
    PivotXCmd(int id, T pivot, Angle relativeMovementRot)
    Constructor that creates the command with the below parameters.
    PivotXCmd(int id, T pivot, Angle relativeMovementRot, boolean holdPositionAfter)
    Constructor that creates the command with the below parameters.
    PivotXCmd(int id, T pivot, Angle relativeMovementRot, boolean holdPositionAfter, double maxVelocityRPS)
    Constructor that creates the command with the below parameters.
    PivotXCmd(int id, T pivot, Angle relativeMovementRot, boolean holdPositionAfter, double maxVelocityRPS, double toleranceM)
    Constructor that creates the command with the below parameters.
    PivotXCmd(int id, T pivot, Angle relativeMovementRot, boolean holdPositionAfter, double maxVelocityRPS, double lowerToleranceM, double upperToleranceM)
    Constructor that creates the command with the below parameters.
    PivotXCmd(int id, T pivot, Angle relativeMovement, boolean holdPositionAfter, double maxVelocityRPS, double lowerToleranceM, double upperToleranceM, double requiredInToleranceDurationS)
    Constructor that creates the command with the below parameters.
    PivotXCmd(T pivot, double relativeMovementRot, boolean holdPositionAfter, double maxVelocityRPS, 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
    PivotXCmd(T pivot, Angle relativeMovementRot)
    Constructor that creates the command with the below parameters.
    PivotXCmd(T pivot, Angle relativeMovementRot, boolean holdPositionAfter)
    Constructor that creates the command with the below parameters.
    PivotXCmd(T pivot, Angle relativeMovementRot, boolean holdPositionAfter, double maxVelocityRPS)
    Constructor that creates the command with the below parameters.
    PivotXCmd(T pivot, Angle relativeMovementRot, boolean holdPositionAfter, double maxVelocityRPS, double toleranceM)
    Constructor that creates the command with the below parameters.
    PivotXCmd(T pivot, Angle relativeMovementRot, boolean holdPositionAfter, double maxVelocityRPS, double lowerToleranceM, double upperToleranceM)
    Constructor that creates the command with the below parameters.
    PivotXCmd(T pivot, Angle relativeMovement, boolean holdPositionAfter, double maxVelocityRPS, 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

    • PivotXCmd

      public PivotXCmd(T pivot, Angle relativeMovementRot)
      Constructor that creates the command with the below parameters.
      Parameters:
      pivot - Tagalong Subsystem containing a pivot microsystem
      relativeMovementRot - The target amount to move, in rotations

    • PivotXCmd

      public PivotXCmd(int id, T pivot, Angle relativeMovementRot)
      Constructor that creates the command with the below parameters.
      Parameters:
      id - Tagalong Subsystem containing a pivot microsystem
      pivot - Tagalong Subsystem containing a pivot microsystem
      relativeMovementRot - The target amount to move, in rotations

    • PivotXCmd

      public PivotXCmd(T pivot, Angle relativeMovementRot, boolean holdPositionAfter)
      Constructor that creates the command with the below parameters.
      Parameters:
      pivot - Tagalong Subsystem containing a pivot microsystem
      relativeMovementRot - The target amount to move, in rotations
      holdPositionAfter - whether or not the pivot must hold position after reaching target

    • PivotXCmd

      public PivotXCmd(int id, T pivot, Angle relativeMovementRot, boolean holdPositionAfter)
      Constructor that creates the command with the below parameters.
      Parameters:
      id - Tagalong Subsystem containing a pivot microsystem
      pivot - Tagalong Subsystem containing a pivot microsystem
      relativeMovementRot - The target amount to move, in rotations
      holdPositionAfter - whether or not the pivot must hold position after reaching target

    • PivotXCmd

      public PivotXCmd(T pivot, Angle relativeMovementRot, boolean holdPositionAfter, double maxVelocityRPS)
      Constructor that creates the command with the below parameters.
      Parameters:
      pivot - Tagalong Subsystem containing a pivot microsystem
      relativeMovementRot - The target amount to move, in rotations
      holdPositionAfter - whether or not the pivot must hold position after reaching target
      maxVelocityRPS - maximum velocity, in rotations per second, the pivot can move

    • PivotXCmd

      public PivotXCmd(int id, T pivot, Angle relativeMovementRot, boolean holdPositionAfter, double maxVelocityRPS)
      Constructor that creates the command with the below parameters.
      Parameters:
      id - Tagalong Subsystem containing a pivot microsystem
      pivot - Tagalong Subsystem containing a pivot microsystem
      relativeMovementRot - The target amount to move, in rotations
      holdPositionAfter - whether or not the pivot must hold position after reaching target
      maxVelocityRPS - maximum velocity, in rotations per second, the pivot can move

    • PivotXCmd

      public PivotXCmd(T pivot, Angle relativeMovementRot, boolean holdPositionAfter, double maxVelocityRPS, double toleranceM)
      Constructor that creates the command with the below parameters.
      Parameters:
      pivot - Tagalong Subsystem containing a pivot microsystem
      relativeMovementRot - The target amount to move, in rotations
      holdPositionAfter - whether or not the pivot must hold position after reaching target
      maxVelocityRPS - maximum velocity, in rotations per second, the pivot can move
      toleranceM - the desired tolerance for angle, in rotations

    • PivotXCmd

      public PivotXCmd(int id, T pivot, Angle relativeMovementRot, boolean holdPositionAfter, double maxVelocityRPS, double toleranceM)
      Constructor that creates the command with the below parameters.
      Parameters:
      id - Tagalong Subsystem containing a pivot microsystem
      pivot - Tagalong Subsystem containing a pivot microsystem
      relativeMovementRot - The target amount to move, in rotations
      holdPositionAfter - whether or not the pivot must hold position after reaching target
      maxVelocityRPS - maximum velocity, in rotations per second, the pivot can move
      toleranceM - the desired tolerance for angle, in rotations

    • PivotXCmd

      public PivotXCmd(T pivot, Angle relativeMovementRot, boolean holdPositionAfter, double maxVelocityRPS, double lowerToleranceM, double upperToleranceM)
      Constructor that creates the command with the below parameters.
      Parameters:
      pivot - Tagalong Subsystem containing a pivot microsystem
      relativeMovementRot - The target amount to move, in rotations
      holdPositionAfter - whether or not the pivot must hold position after reaching target
      maxVelocityRPS - maximum velocity, in rotations per second, the pivot can move
      lowerToleranceM - the lower bound for angle tolerance, in rotations
      upperToleranceM - the upper bound for angle tolerance, in rotations

    • PivotXCmd

      public PivotXCmd(int id, T pivot, Angle relativeMovementRot, boolean holdPositionAfter, double maxVelocityRPS, double lowerToleranceM, double upperToleranceM)
      Constructor that creates the command with the below parameters.
      Parameters:
      id - Tagalong Subsystem containing a pivot microsystem
      pivot - Tagalong Subsystem containing a pivot microsystem
      relativeMovementRot - The target amount to move, in rotations
      holdPositionAfter - whether or not the pivot must hold position after reaching target
      maxVelocityRPS - maximum velocity, in rotations per second, the pivot can move
      lowerToleranceM - the lower bound for angle tolerance, in rotations
      upperToleranceM - the upper bound for angle tolerance, in rotations

    • PivotXCmd

      public PivotXCmd(T pivot, Angle relativeMovement, boolean holdPositionAfter, double maxVelocityRPS, double lowerToleranceM, double upperToleranceM, double requiredInToleranceDurationS)
      Constructor that creates the command with the below parameters.
      Parameters:
      pivot - Tagalong Subsystem containing a pivot microsystem
      relativeMovement - the target amount to move
      holdPositionAfter - whether or not the pivot must hold position after reaching target
      maxVelocityRPS - maximum velocity, in rotations per second, the pivot can move
      lowerToleranceM - the lower bound for angle tolerance, in rotations
      upperToleranceM - the upper bound for angle tolerance, in rotations
      requiredInToleranceDurationS - the duration (in seconds) the pivot must stay in tolerance

    • PivotXCmd

      public PivotXCmd(int id, T pivot, Angle relativeMovement, boolean holdPositionAfter, double maxVelocityRPS, double lowerToleranceM, double upperToleranceM, double requiredInToleranceDurationS)
      Constructor that creates the command with the below parameters.
      Parameters:
      id - Tagalong Subsystem containing a pivot microsystem
      pivot - Tagalong Subsystem containing a pivot microsystem
      relativeMovement - the target amount to move
      holdPositionAfter - whether or not the pivot must hold position after reaching target
      maxVelocityRPS - maximum velocity, in rotations per second, the pivot can move
      lowerToleranceM - the lower bound for angle tolerance, in rotations
      upperToleranceM - the upper bound for angle tolerance, in rotations
      requiredInToleranceDurationS - the duration (in seconds) the pivot must stay in tolerance

    • PivotXCmd

      public PivotXCmd(T pivot, double relativeMovementRot, boolean holdPositionAfter, double maxVelocityRPS, 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:
      pivot - Tagalong Subsystem containing a pivot microsystem
      relativeMovementRot - the target amount to move, in rotations
      holdPositionAfter - whether or not the pivot must hold position after reaching target
      maxVelocityRPS - maximum velocity, in rotations per second, the pivot can move
      lowerToleranceM - the lower bound for angle tolerance, in rotations
      upperToleranceM - the upper bound for angle tolerance, in rotations
      requiredInToleranceDurationS - the duration (in seconds) the pivot must stay in tolerance

    • PivotXCmd

      public PivotXCmd(int id, T pivot, double relativeMovementRot, boolean holdPositionAfter, double maxVelocityRPS, 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 a pivot microsystem
      pivot - Tagalong Subsystem containing a pivot microsystem
      relativeMovementRot - the target amount to move, in rotations
      holdPositionAfter - whether or not the pivot must hold position after reaching target
      maxVelocityRPS - maximum velocity, in rotations per second, the pivot can move
      lowerToleranceM - the lower bound for angle tolerance, in rotations
      upperToleranceM - the upper bound for angle tolerance, in rotations
      requiredInToleranceDurationS - the duration (in seconds) the pivot must stay in tolerance

  • Method Details