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
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Nested Class Summary
Nested classes/interfaces inherited from class edu.wpi.first.wpilibj2.command.Command
Command.InterruptionBehavior
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Field Summary
FieldsModifier and TypeFieldDescriptionboolean
protected BaseSwerveDriveSubsystem
protected HeadingModule
protected BasePoseSubsystem
Fields inherited from class xbot.common.command.BaseCommand
aKitLog, log, monitor, runningAlert
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Constructor Summary
ConstructorsConstructorDescriptionSwerveSimpleTrajectoryCommand
(BaseSwerveDriveSubsystem drive, BasePoseSubsystem pose, PropertyFactory pf, HeadingModule.HeadingModuleFactory headingModuleFactory, RobotAssertionManager assertionManager) -
Method Summary
Modifier and TypeMethodDescriptionvoid
end
(boolean interrupted) void
execute()
void
boolean
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
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Field Details
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drive
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pose
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headingModule
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logic
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constantRotationPowerSupplier
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constantRotationEnabled
public boolean constantRotationEnabled
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Constructor Details
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SwerveSimpleTrajectoryCommand
@Inject public SwerveSimpleTrajectoryCommand(BaseSwerveDriveSubsystem drive, BasePoseSubsystem pose, PropertyFactory pf, HeadingModule.HeadingModuleFactory headingModuleFactory, RobotAssertionManager assertionManager)
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Method Details
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initialize
public void initialize()- Overrides:
initialize
in classBaseCommand
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reset
public void reset() -
setConstantRotationPowerSupplier
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execute
public void execute() -
isFinished
public boolean isFinished()- Overrides:
isFinished
in classCommand
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setAlternativeIsFinishedSupplier
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getAlternativeIsFinishedSupplier
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end
public void end(boolean interrupted) - Overrides:
end
in classBaseCommand
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