Package xbot.common.subsystems.drive

Class SwerveSimpleTrajectoryCommand

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

xbot.common.command.BaseCommand

xbot.common.subsystems.drive.SwerveSimpleTrajectoryCommand

All Implemented Interfaces:

Sendable, IPropertySupport

public class SwerveSimpleTrajectoryCommand
extends BaseCommand

Nested Class Summary

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

Command.InterruptionBehavior

Field Summary

Fields

Modifier and Type	Field	Description
boolean	constantRotationEnabled
DoubleSupplier	constantRotationPowerSupplier
protected BaseSwerveDriveSubsystem	drive
protected HeadingModule	headingModule
SwerveSimpleTrajectoryLogic	logic
protected BasePoseSubsystem	pose

Fields inherited from class xbot.common.command.BaseCommand

aKitLog, log, monitor, runningAlert

Constructor Summary

Constructors

Constructor	Description
SwerveSimpleTrajectoryCommand(BaseSwerveDriveSubsystem drive, BasePoseSubsystem pose, PropertyFactory pf, HeadingModule.HeadingModuleFactory headingModuleFactory, RobotAssertionManager assertionManager)

Method Summary

Modifier and Type	Method	Description
void	end(boolean interrupted)
void	execute()
BooleanSupplier	getAlternativeIsFinishedSupplier()
void	initialize()
boolean	isFinished()
void	reset()
void	setAlternativeIsFinishedSupplier(BooleanSupplier alternativeIsFinishedSupplier)
void	setConstantRotationPowerSupplier(DoubleSupplier constantRotationPowerSupplier)

Methods inherited from class xbot.common.command.BaseCommand

getPrefix, includeOnSmartDashboard, includeOnSmartDashboard, requires, runsWhenDisabled, setRunsWhenDisabled

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, 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

Field Details

drive

protected BaseSwerveDriveSubsystem drive

pose

protected BasePoseSubsystem pose

headingModule

protected HeadingModule headingModule

logic

public SwerveSimpleTrajectoryLogic logic

constantRotationPowerSupplier

public DoubleSupplier constantRotationPowerSupplier

constantRotationEnabled

public boolean constantRotationEnabled

Constructor Details

SwerveSimpleTrajectoryCommand

@Inject
public SwerveSimpleTrajectoryCommand(BaseSwerveDriveSubsystem drive,
 BasePoseSubsystem pose,
 PropertyFactory pf,
 HeadingModule.HeadingModuleFactory headingModuleFactory,
 RobotAssertionManager assertionManager)

Method Details

initialize

public void initialize()

Overrides:

initialize in class BaseCommand

reset

public void reset()

setConstantRotationPowerSupplier

public void setConstantRotationPowerSupplier(DoubleSupplier constantRotationPowerSupplier)

execute

public void execute()

Overrides:

execute in class Command

isFinished

public boolean isFinished()

Overrides:

isFinished in class Command

setAlternativeIsFinishedSupplier

public void setAlternativeIsFinishedSupplier(BooleanSupplier alternativeIsFinishedSupplier)

getAlternativeIsFinishedSupplier

public BooleanSupplier getAlternativeIsFinishedSupplier()

end

public void end(boolean interrupted)

Overrides:

end in class BaseCommand