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
Supplier<Double>	constantRotationPowerSupplier
protected BaseSwerveDriveSubsystem	drive
protected HeadingModule	headingModule
SwerveSimpleTrajectoryLogic	logic
protected BasePoseSubsystem	pose

Fields inherited from class xbot.common.command.BaseCommand

aKitLog, log, monitor

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method	Description
void	end(boolean interrupted)
void	execute()
void	initialize()
boolean	isFinished()
void	reset()
void	setAlternativeIsFinishedSupplier(Supplier<Boolean> alternativeIsFinishedSupplier)
void	setConstantRotationPowerSupplier(Supplier<Double> 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 Supplier<Double> constantRotationPowerSupplier

constantRotationEnabled

public boolean constantRotationEnabled

Constructor Details

SwerveSimpleTrajectoryCommand

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

Method Details

initialize

public void initialize()

Specified by:

initialize in class BaseCommand

reset

public void reset()

setConstantRotationPowerSupplier

public void setConstantRotationPowerSupplier(Supplier<Double> constantRotationPowerSupplier)

execute

public void execute()

Overrides:

execute in class Command

isFinished

public boolean isFinished()

Overrides:

isFinished in class Command

setAlternativeIsFinishedSupplier

public void setAlternativeIsFinishedSupplier(Supplier<Boolean> alternativeIsFinishedSupplier)

end

public void end(boolean interrupted)

Overrides:

end in class Command