Package frc.robot.commands

Class ShootWhileMoving

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

frc.robot.commands.ShootWhileMoving

All Implemented Interfaces:

Sendable

public class ShootWhileMoving
extends Command

Shooting while moving command

Nested Class Summary

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

Command.InterruptionBehavior

Constructor Summary

Constructors

Constructor	Description
ShootWhileMoving(Swerve swerveDrive, CommandXboxController controller, Supplier<Pose2d> swervePoseSupplier, Supplier<Translation2d> targetPositionSupplier)	Shoot while moving command

Method Summary

Modifier and Type	Method	Description
void	execute()
static Rotation2d	getDesiredRotation(Pose2d swervePose, Translation2d target)	Get target rotation for a given pose to shoot into the speaker.

Methods inherited from class edu.wpi.first.wpilibj2.command.Command

addRequirements, addRequirements, alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineFor, deadlineWith, end, finallyDo, finallyDo, getInterruptionBehavior, getName, getRequirements, getSubsystem, handleInterrupt, hasRequirement, ignoringDisable, initialize, initSendable, isFinished, 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

Constructor Details

ShootWhileMoving

public ShootWhileMoving(Swerve swerveDrive,
 CommandXboxController controller,
 Supplier<Pose2d> swervePoseSupplier,
 Supplier<Translation2d> targetPositionSupplier)

Shoot while moving command

Parameters:

swerveDrive - Swerve Drive subsystem

controller - Driver Controller

Method Details

execute

public void execute()

Overrides:

execute in class Command

getDesiredRotation

public static Rotation2d getDesiredRotation(Pose2d swervePose,
 Translation2d target)

Get target rotation for a given pose to shoot into the speaker.