Package frc.robot

Class CommandFactory

java.lang.Object

frc.robot.CommandFactory

public class CommandFactory
extends Object

Factory for Composed Commands

Constructor Summary

Constructors

Constructor	Description
CommandFactory()

Method Summary

Modifier and Type	Method	Description
static Command	autoScore(Swerve swerve, Elevator elevator, CoralScoring coralScoring, ElevatorAlgae algae, AlgaeWrist wrist, Supplier<ScoringLocation.CoralLocation> location, Supplier<ScoringLocation.Height> height, Supplier<Optional<ScoringLocation.Height>> additionalAlgaeHeight, Consumer<ScoringLocation.Height> crossOut)	Move and score coral or retrieve algae.
static Command	backAwayReef(Swerve swerve, Supplier<ScoringLocation.CoralLocation> location)	Safely move far away enough to go home.
static Command	bargeSpitAlgae(Elevator elevator, ElevatorAlgae algae, AlgaeWrist wrist)	Command to Raise Elevator and spit algae into the barge
static Command	dropAlgaeIntake(Swerve swerve)	Move slightly to ensure algae intake is dropped.
static Command	ensureHome(Elevator elevator)	Go home, no exception
static Command	fasterFeeder(Swerve swerve, Elevator elevator, CoralScoring coral)	Move to faster feeder
static Command	leftFeeder(Swerve swerve, Elevator elevator, CoralScoring coral)	Move to left feeder
static Command	leftFeederClose(Swerve swerve, Elevator elevator, CoralScoring coral)	Move to left feeder close
static Command	maybePickupAlgae(Swerve swerve, Elevator elevator, ElevatorAlgae algae, AlgaeWrist wrist, Supplier<ScoringLocation.CoralLocation> location, Supplier<ScoringLocation.Height> algaeHeight, Consumer<ScoringLocation.Height> crossOut)	Pick algae off of reef
static Command	maybeScoreCoral(Swerve swerve, Elevator elevator, CoralScoring coralScoring, ElevatorAlgae algae, AlgaeWrist wrist, Supplier<ScoringLocation.CoralLocation> location, Supplier<ScoringLocation.Height> height)	Score coral if coral height selected
static Command	reefAlign(Swerve swerve, Supplier<ScoringLocation.CoralLocation> location, double distAway)	Align to a given scoring location, assuming elevator is at the right height.
static Command	reefPreAlign(Swerve swerve, Supplier<ScoringLocation.CoralLocation> location)	Approach reef scoring location.
static Command	rightFeeder(Swerve swerve, Elevator elevator, CoralScoring coral)	Move to right feeder
static Command	rightFeederClose(Swerve swerve, Elevator elevator, CoralScoring coral)	Move to left feeder close
static Command	scoreCoralAutoStart(Swerve swerve, Elevator elevator, CoralScoring coralScoring, ElevatorAlgae algae, AlgaeWrist wrist, Supplier<ScoringLocation.CoralLocation> location, Supplier<ScoringLocation.Height> height)	Score coral if coral height selected
static Command	scoreInBarge(Swerve swerve, Elevator elevator, ElevatorAlgae algae, AlgaeWrist wrist)	move and score in barge final
static Command	scoreWithElevator(Swerve swerve, Elevator elevator, Supplier<ScoringLocation.CoralLocation> location, Supplier<ScoringLocation.Height> height)	Score coral
static Command	selectFeeder(Swerve swerve, Elevator elevator, CoralScoring coral, Supplier<Character> charSupplier)	Move to feeder depending on webcontroller code

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

CommandFactory

public CommandFactory()

Method Details

dropAlgaeIntake

public static Command dropAlgaeIntake(Swerve swerve)

Move slightly to ensure algae intake is dropped.

reefPreAlign

public static Command reefPreAlign(Swerve swerve,
 Supplier<ScoringLocation.CoralLocation> location)

Approach reef scoring location. Elevator can be home during this.

reefAlign

public static Command reefAlign(Swerve swerve,
 Supplier<ScoringLocation.CoralLocation> location,
 double distAway)

Align to a given scoring location, assuming elevator is at the right height.

backAwayReef

public static Command backAwayReef(Swerve swerve,
 Supplier<ScoringLocation.CoralLocation> location)

Safely move far away enough to go home.

scoreWithElevator

public static Command scoreWithElevator(Swerve swerve,
 Elevator elevator,
 Supplier<ScoringLocation.CoralLocation> location,
 Supplier<ScoringLocation.Height> height)

Score coral

ensureHome

public static Command ensureHome(Elevator elevator)

Go home, no exception

maybeScoreCoral

public static Command maybeScoreCoral(Swerve swerve,
 Elevator elevator,
 CoralScoring coralScoring,
 ElevatorAlgae algae,
 AlgaeWrist wrist,
 Supplier<ScoringLocation.CoralLocation> location,
 Supplier<ScoringLocation.Height> height)

Score coral if coral height selected

scoreCoralAutoStart

public static Command scoreCoralAutoStart(Swerve swerve,
 Elevator elevator,
 CoralScoring coralScoring,
 ElevatorAlgae algae,
 AlgaeWrist wrist,
 Supplier<ScoringLocation.CoralLocation> location,
 Supplier<ScoringLocation.Height> height)

Score coral if coral height selected

maybePickupAlgae

public static Command maybePickupAlgae(Swerve swerve,
 Elevator elevator,
 ElevatorAlgae algae,
 AlgaeWrist wrist,
 Supplier<ScoringLocation.CoralLocation> location,
 Supplier<ScoringLocation.Height> algaeHeight,
 Consumer<ScoringLocation.Height> crossOut)

Pick algae off of reef

autoScore

public static Command autoScore(Swerve swerve,
 Elevator elevator,
 CoralScoring coralScoring,
 ElevatorAlgae algae,
 AlgaeWrist wrist,
 Supplier<ScoringLocation.CoralLocation> location,
 Supplier<ScoringLocation.Height> height,
 Supplier<Optional<ScoringLocation.Height>> additionalAlgaeHeight,
 Consumer<ScoringLocation.Height> crossOut)

Move and score coral or retrieve algae.

leftFeeder

public static Command leftFeeder(Swerve swerve,
 Elevator elevator,
 CoralScoring coral)

Move to left feeder

leftFeederClose

public static Command leftFeederClose(Swerve swerve,
 Elevator elevator,
 CoralScoring coral)

Move to left feeder close

rightFeeder

public static Command rightFeeder(Swerve swerve,
 Elevator elevator,
 CoralScoring coral)

Move to right feeder

rightFeederClose

public static Command rightFeederClose(Swerve swerve,
 Elevator elevator,
 CoralScoring coral)

Move to left feeder close

fasterFeeder

public static Command fasterFeeder(Swerve swerve,
 Elevator elevator,
 CoralScoring coral)

Move to faster feeder

selectFeeder

public static Command selectFeeder(Swerve swerve,
 Elevator elevator,
 CoralScoring coral,
 Supplier<Character> charSupplier)

Move to feeder depending on webcontroller code

scoreInBarge

public static Command scoreInBarge(Swerve swerve,
 Elevator elevator,
 ElevatorAlgae algae,
 AlgaeWrist wrist)

move and score in barge final

Parameters:

swerve - swerve

elevator - elevator

algae - algae

Returns:

move and score in barge

bargeSpitAlgae

public static Command bargeSpitAlgae(Elevator elevator,
 ElevatorAlgae algae,
 AlgaeWrist wrist)

Command to Raise Elevator and spit algae into the barge

Parameters:

elevator - Elevator Subsystem

algae - Algae Subsystem

Returns:

Command