Package xbot.common.command

Class BaseSetpointSubsystem<T>

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

xbot.common.command.BaseSubsystem

xbot.common.command.BaseSetpointSubsystem<T>

Type Parameters:

T - The type of the target value.

All Implemented Interfaces:

Sendable, Subsystem, DataFrameRefreshable, SupportsSetpointLock, IPropertySupport

Direct Known Subclasses:

SwerveDriveSubsystem, SwerveSteeringSubsystem

public abstract class BaseSetpointSubsystem<T>
extends BaseSubsystem
implements SupportsSetpointLock

Base class for subsystems that have a setpoint managed by a maintainer.

Field Summary

Fields

Modifier and Type	Field	Description
protected boolean	atGoal
protected T	lastTargetValueUsedforAtGoal

Fields inherited from class xbot.common.command.BaseSubsystem

aKitLog, dataFrameRefreshables, log

Constructor Summary

Constructors

Constructor	Description
BaseSetpointSubsystem()

Method Summary

Modifier and Type	Method	Description
static boolean	areTwoDoublesEquivalent(double target1, double target2)
static boolean	areTwoDoublesEquivalent(double target1, double target2, double tolerance)
protected abstract boolean	areTwoTargetsEquivalent(T target1, T target2)
SetTargetCommand<T>	createSetTargetCommand()
SetTargetCommand<T>	createSetTargetCommand(T value)
abstract T	getCurrentValue()
Subsystem	getSetpointLock()
abstract T	getTargetValue()
abstract boolean	isCalibrated()
boolean	isMaintainerAtGoal()
void	setMaintainerIsAtGoal(boolean atGoal)
abstract void	setPower(double power)
abstract void	setTargetValue(T value)

Methods inherited from class xbot.common.command.BaseSubsystem

getPrefix, periodic, refreshDataFrame, registerDataFrameRefreshable

Methods inherited from class edu.wpi.first.wpilibj2.command.SubsystemBase

addChild, getName, getSubsystem, initSendable, setName, setSubsystem

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem

defer, getCurrentCommand, getDefaultCommand, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd, startRun

Field Details

atGoal

protected boolean atGoal

lastTargetValueUsedforAtGoal

protected T lastTargetValueUsedforAtGoal

Constructor Details

BaseSetpointSubsystem

public BaseSetpointSubsystem()

Method Details

getSetpointLock

public Subsystem getSetpointLock()

Specified by:

getSetpointLock in interface SupportsSetpointLock

isMaintainerAtGoal

public boolean isMaintainerAtGoal()

setMaintainerIsAtGoal

public void setMaintainerIsAtGoal(boolean atGoal)

getCurrentValue

public abstract T getCurrentValue()

getTargetValue

public abstract T getTargetValue()

setTargetValue

public abstract void setTargetValue(T value)

setPower

public abstract void setPower(double power)

isCalibrated

public abstract boolean isCalibrated()

areTwoTargetsEquivalent

protected abstract boolean areTwoTargetsEquivalent(T target1,
 T target2)

createSetTargetCommand

public SetTargetCommand<T> createSetTargetCommand()

createSetTargetCommand

public SetTargetCommand<T> createSetTargetCommand(T value)

areTwoDoublesEquivalent

public static boolean areTwoDoublesEquivalent(double target1,
 double target2)

areTwoDoublesEquivalent

public static boolean areTwoDoublesEquivalent(double target1,
 double target2,
 double tolerance)