Package frc.robot.commands

Class MoveToPos

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

frc.robot.commands.MoveToPos

All Implemented Interfaces:

Sendable

public class MoveToPos
extends Command

Move to Position

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
Pose2d	pose2d
Supplier<Pose2d>	pose2dSupplier
Swerve	swerve

Constructor Summary

Constructors

Constructor	Description
MoveToPos(Swerve swerve)	Move to Position
MoveToPos(Swerve swerve, Supplier<Pose2d> pose2dSupplier)	Move to Position
MoveToPos(Swerve swerve, Supplier<Pose2d> pose2dSupplier, boolean flipForRed)	Move to Position
MoveToPos(Swerve swerve, Supplier<Pose2d> pose2dSupplier, boolean flipForRed, double tol)	Move to Position
MoveToPos(Swerve swerve, Supplier<Pose2d> pose2dSupplier, boolean flipForRed, double tol, double turnP)	Move to Position

Method Summary

Modifier and Type	Method	Description
void	end(boolean interrupted)
void	execute()
void	initialize()
boolean	isFinished()

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, runsWhenDisabled, 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

swerve

public Swerve swerve

pose2d

public Pose2d pose2d

pose2dSupplier

public Supplier<Pose2d> pose2dSupplier

Constructor Details

MoveToPos

public MoveToPos(Swerve swerve,
 Supplier<Pose2d> pose2dSupplier,
 boolean flipForRed,
 double tol)

Move to Position

Parameters:

swerve - Swerve Drive Subsystem

pose2dSupplier - Supplier of Pose2d

flipForRed - Flip the Pose2d relative to the Red Alliance

MoveToPos

public MoveToPos(Swerve swerve,
 Supplier<Pose2d> pose2dSupplier,
 boolean flipForRed,
 double tol,
 double turnP)

Move to Position

Parameters:

swerve - Swerve Drive Subsystem

pose2dSupplier - Supplier of Pose2d

flipForRed - Flip the Pose2d relative to the Red Alliance

MoveToPos

public MoveToPos(Swerve swerve,
 Supplier<Pose2d> pose2dSupplier,
 boolean flipForRed)

Move to Position

Parameters:

swerve - Swerve Drive Subsystem

pose2dSupplier - Supplier of Pose2d

flipForRed - Flip the Pose2d relative to the Red Alliance

MoveToPos

public MoveToPos(Swerve swerve,
 Supplier<Pose2d> pose2dSupplier)

Move to Position

Parameters:

swerve - Swerve Drive Subsystem

pose2dSupplier - Supplier of Pose2d

MoveToPos

public MoveToPos(Swerve swerve)

Move to Position

Parameters:

swerve - Swerve Drive Subsystem

Method Details

initialize

public void initialize()

Overrides:

initialize in class Command

execute

public void execute()

Overrides:

execute in class Command

end

public void end(boolean interrupted)

Overrides:

end in class Command

isFinished

public boolean isFinished()

Overrides:

isFinished in class Command