Package xbot.common.command

Class BaseSetpointSubsystem<TargetT,PowerT>

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

xbot.common.command.BaseSubsystem

xbot.common.command.BaseSetpointSubsystem<TargetT,PowerT>

Type Parameters:

TargetT - The type of the target value.

PowerT - The type of the power value.

All Implemented Interfaces:

Sendable, Subsystem, DataFrameRefreshable, SupportsSetpointLock, IPropertySupport

Direct Known Subclasses:

BaseSimpleSetpointSubsystem

public abstract class BaseSetpointSubsystem<TargetT,PowerT>
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 TargetT	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(TargetT target1, TargetT target2)
SetTargetCommand<TargetT>	createSetTargetCommand()
SetTargetCommand<TargetT>	createSetTargetCommand(TargetT value)
abstract TargetT	getCurrentValue()
Subsystem	getSetpointLock()
abstract TargetT	getTargetValue()
abstract boolean	isCalibrated()
boolean	isMaintainerAtGoal()
void	setMaintainerIsAtGoal(boolean atGoal)
abstract void	setPower(PowerT power)
abstract void	setTargetValue(TargetT 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 TargetT 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 TargetT getCurrentValue()

getTargetValue

public abstract TargetT getTargetValue()

setTargetValue

public abstract void setTargetValue(TargetT value)

setPower

public abstract void setPower(PowerT power)

isCalibrated

public abstract boolean isCalibrated()

areTwoTargetsEquivalent

protected abstract boolean areTwoTargetsEquivalent(TargetT target1,
 TargetT target2)

createSetTargetCommand

public SetTargetCommand<TargetT> createSetTargetCommand()

createSetTargetCommand

public SetTargetCommand<TargetT> createSetTargetCommand(TargetT value)

areTwoDoublesEquivalent

public static boolean areTwoDoublesEquivalent(double target1,
 double target2)

areTwoDoublesEquivalent

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