Package tagalong.commands.base

Class RollToCmd<T extends TagalongSubsystemBase & RollerAugment>

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

tagalong.commands.TagalongCommand

tagalong.commands.base.RollToCmd<T>

All Implemented Interfaces:

Sendable

public class RollToCmd<T extends TagalongSubsystemBase & RollerAugment>
extends TagalongCommand

Command that moves the roller 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
RollToCmd(int id, T roller, 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
RollToCmd(int id, T roller, Angle goalPosition)	Constructor with default to hold position after
RollToCmd(int id, T roller, Angle goalPosition, boolean holdPositionAfter)	Constructor that creates the command with the below parameters.
RollToCmd(int id, T roller, Angle goalPosition, boolean holdPositionAfter, double maxVelocityRPS)	Constructor that creates the command with the below parameters.
RollToCmd(int id, T roller, Angle goalPosition, boolean holdPositionAfter, double maxVelocityRPS, double toleranceRot)	Constructor that creates the command with the below parameters.
RollToCmd(int id, T roller, Angle goalPosition, boolean holdPositionAfter, double maxVelocityRPS, double lowerToleranceRot, double upperToleranceRot)	Constructor that creates the command with the below parameters.
RollToCmd(int id, T roller, Angle goalPosition, boolean holdPositionAfter, double maxVelocityRPS, double lowerToleranceRot, double upperToleranceRot, double requiredInToleranceDurationS)	Constructor that creates the command with the below parameters.
RollToCmd(T roller, 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
RollToCmd(T roller, Angle goalPosition)	Constructor with default to hold position after
RollToCmd(T roller, Angle goalPosition, boolean holdPositionAfter)	Constructor that creates the command with the below parameters.
RollToCmd(T roller, Angle goalPosition, boolean holdPositionAfter, double maxVelocityRPS)	Constructor that creates the command with the below parameters.
RollToCmd(T roller, Angle goalPosition, boolean holdPositionAfter, double maxVelocityRPS, double toleranceRot)	Constructor that creates the command with the below parameters.
RollToCmd(T roller, Angle goalPosition, boolean holdPositionAfter, double maxVelocityRPS, double lowerToleranceRot, double upperToleranceRot)	Constructor that creates the command with the below parameters.
RollToCmd(T roller, 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

RollToCmd

public RollToCmd(T roller,
 Angle goalPosition)

Constructor with default to hold position after

Parameters:

roller - Tagalong Subsystem containing a roller microsystem

goalPosition - Goal roller position

RollToCmd

public RollToCmd(int id,
 T roller,
 Angle goalPosition)

Constructor with default to hold position after

Parameters:

id - The roller integer ID

roller - Tagalong Subsystem containing a roller microsystem

goalPosition - Goal roller position

RollToCmd

public RollToCmd(T roller,
 Angle goalPosition,
 boolean holdPositionAfter)

Constructor that creates the command with the below parameters.

Parameters:

roller - Tagalong Subsystem containing a roller microsystem

goalPosition - Goal roller position

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

RollToCmd

public RollToCmd(int id,
 T roller,
 Angle goalPosition,
 boolean holdPositionAfter)

Constructor that creates the command with the below parameters.

Parameters:

id - The roller integer ID

roller - Tagalong Subsystem containing a roller microsystem

goalPosition - Goal roller position

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

RollToCmd

public RollToCmd(T roller,
 Angle goalPosition,
 boolean holdPositionAfter,
 double maxVelocityRPS)

Constructor that creates the command with the below parameters.

Parameters:

roller - Tagalong Subsystem containing a roller microsystem

goalPosition - Goal roller position

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

maxVelocityRPS - The maximum velocity of the roller, in rotations per second, during this command

RollToCmd

public RollToCmd(int id,
 T roller,
 Angle goalPosition,
 boolean holdPositionAfter,
 double maxVelocityRPS)

Constructor that creates the command with the below parameters.

Parameters:

id - The roller integer ID

roller - Tagalong Subsystem containing a roller microsystem

goalPosition - Goal roller position

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

maxVelocityRPS - The maximum velocity of the roller, in rotations per second, during this command

RollToCmd

public RollToCmd(T roller,
 Angle goalPosition,
 boolean holdPositionAfter,
 double maxVelocityRPS,
 double toleranceRot)

Constructor that creates the command with the below parameters.

Parameters:

roller - Tagalong Subsystem containing a roller microsystem

goalPosition - Goal roller position

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

maxVelocityRPS - The maximum velocity of the roller, in rotations per second, during this command

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

RollToCmd

public RollToCmd(int id,
 T roller,
 Angle goalPosition,
 boolean holdPositionAfter,
 double maxVelocityRPS,
 double toleranceRot)

Constructor that creates the command with the below parameters.

Parameters:

id - The roller integer ID

roller - Tagalong Subsystem containing a roller microsystem

goalPosition - Goal roller position

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

maxVelocityRPS - The maximum velocity of the roller, in rotations per second, during this command

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

RollToCmd

public RollToCmd(T roller,
 Angle goalPosition,
 boolean holdPositionAfter,
 double maxVelocityRPS,
 double lowerToleranceRot,
 double upperToleranceRot)

Constructor that creates the command with the below parameters.

Parameters:

roller - Tagalong Subsystem containing a roller microsystem

goalPosition - Goal roller position

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

maxVelocityRPS - The maximum velocity of the roller, in rotations per second, during this command

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

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

RollToCmd

public RollToCmd(int id,
 T roller,
 Angle goalPosition,
 boolean holdPositionAfter,
 double maxVelocityRPS,
 double lowerToleranceRot,
 double upperToleranceRot)

Constructor that creates the command with the below parameters.

Parameters:

id - The roller integer ID

roller - Tagalong Subsystem containing a roller microsystem

goalPosition - Goal roller position

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

maxVelocityRPS - The maximum velocity of the roller, in rotations per second, during this command

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

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

RollToCmd

public RollToCmd(T roller,
 Angle goalPosition,
 boolean holdPositionAfter,
 double maxVelocityRPS,
 double lowerToleranceRot,
 double upperToleranceRot,
 double requiredInToleranceDurationS)

Constructor that creates the command with the below parameters.

Parameters:

roller - Tagalong Subsystem containing a roller microsystem

goalPosition - Goal roller position

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

maxVelocityRPS - The maximum velocity of the roller, in rotations per second, during this command

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

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

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

RollToCmd

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

Constructor that creates the command with the below parameters.

Parameters:

id - The roller integer ID

roller - Tagalong Subsystem containing a roller microsystem

goalPosition - Goal roller position

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

maxVelocityRPS - The maximum velocity of the roller, in rotations per second, during this command

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

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

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

RollToCmd

public RollToCmd(T roller,
 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:

roller - Tagalong Subsystem containing a roller microsystem

goalPosition - Goal roller position

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

maxVelocityRPS - The maximum velocity of the roller, in rotations per second, during this command

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

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

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

RollToCmd

public RollToCmd(int id,
 T roller,
 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 roller integer ID

roller - Tagalong Subsystem containing a roller microsystem

goalPosition - Goal roller position

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

maxVelocityRPS - The maximum velocity of the roller, in rotations per second, during this command

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

upperToleranceRot - The number of rotations beyond the target position the roller 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