Package xbot.common.subsystems.drive.swerve.commands

Class SwerveDriveMaintainerCommand

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

xbot.common.command.BaseCommand

xbot.common.command.BaseMaintainerCommand<Double>

xbot.common.subsystems.drive.swerve.commands.SwerveDriveMaintainerCommand

All Implemented Interfaces:

Sendable, IPropertySupport

public class SwerveDriveMaintainerCommand
extends BaseMaintainerCommand<Double>

Nested Class Summary

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

Command.InterruptionBehavior

Field Summary

Fields inherited from class xbot.common.command.BaseMaintainerCommand

decider, errorTimeStableWindowProp, errorToleranceProp, timeStableValidator

Fields inherited from class xbot.common.command.BaseCommand

aKitLog, log, monitor, runningAlert

Constructor Summary

Constructors

Constructor	Description
SwerveDriveMaintainerCommand(BaseSwerveDriveSubsystem drive, SwerveDriveSubsystem subsystemToMaintain, PropertyFactory pf, HumanVsMachineDecider.HumanVsMachineDeciderFactory hvmFactory)

Method Summary

Modifier and Type	Method	Description
protected void	calibratedMachineControlAction()	The calibrated machine control action.
protected void	coastAction()	The coast action.
void	end(boolean interrupted)
protected double	getErrorMagnitude()
protected double	getHumanInput()	Gets the human input to use for the maintain command.
protected double	getHumanInputMagnitude()	Gets the magnitude of the human input to use for the maintain command, since the generic type T may not be a number.
void	initialize()

Methods inherited from class xbot.common.command.BaseMaintainerCommand

additionalAtGoalChecks, execute, getErrorWithinTolerance, humanControlAction, initializeMachineControlAction, isMaintainerAtGoal, maintain, resetDecider, runsWhenDisabled, setErrorTolerance, uncalibratedMachineControlAction

Methods inherited from class xbot.common.command.BaseCommand

getPrefix, includeOnSmartDashboard, includeOnSmartDashboard, requires, 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, isFinished, 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

Constructor Details

SwerveDriveMaintainerCommand

@Inject
public SwerveDriveMaintainerCommand(BaseSwerveDriveSubsystem drive,
 SwerveDriveSubsystem subsystemToMaintain,
 PropertyFactory pf,
 HumanVsMachineDecider.HumanVsMachineDeciderFactory hvmFactory)

Method Details

coastAction

protected void coastAction()

Description copied from class: BaseMaintainerCommand

The coast action. Typically, this does nothing.

Specified by:

coastAction in class BaseMaintainerCommand<Double>

calibratedMachineControlAction

protected void calibratedMachineControlAction()

Description copied from class: BaseMaintainerCommand

The calibrated machine control action.

Specified by:

calibratedMachineControlAction in class BaseMaintainerCommand<Double>

getErrorMagnitude

protected double getErrorMagnitude()

Specified by:

getErrorMagnitude in class BaseMaintainerCommand<Double>

getHumanInput

protected double getHumanInput()

Description copied from class: BaseMaintainerCommand

Gets the human input to use for the maintain command.

Specified by:

getHumanInput in class BaseMaintainerCommand<Double>

Returns:

The human input.

getHumanInputMagnitude

protected double getHumanInputMagnitude()

Description copied from class: BaseMaintainerCommand

Gets the magnitude of the human input to use for the maintain command, since the generic type T may not be a number.

Specified by:

getHumanInputMagnitude in class BaseMaintainerCommand<Double>

Returns:

The magnitude of the human input.

initialize

public void initialize()

Overrides:

initialize in class BaseMaintainerCommand<Double>

end

public void end(boolean interrupted)

Overrides:

end in class BaseCommand