Package frc.robot.commands

Class MoveAndAvoidReef

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

frc.robot.commands.MoveAndAvoidReef

All Implemented Interfaces:

Sendable, Drawable

public class MoveAndAvoidReef
extends Command
implements Drawable

Move to Pose2d

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
static final double	driveCircleRadius

Constructor Summary

Constructors

Constructor	Description
MoveAndAvoidReef(Swerve swerve, Supplier<Pose2d> pose2dSupplier, boolean flipForRed, double tol, double rotTol, choreo.auto.AutoRoutine autoRoutine)	Move to a specified Pose2d command
MoveAndAvoidReef(Swerve swerve, Supplier<Pose2d> pose2dSupplier, DoubleSupplier maxSpeedSupplier, boolean flipForRed, double tol, double rotTol)	Move to a specified Pose2d command
MoveAndAvoidReef(Swerve swerve, Supplier<Pose2d> pose2dSupplier, DoubleSupplier maxSpeedSupplier, boolean flipForRed, double tol, double rotTol, choreo.auto.AutoRoutine autoRoutine)	Move to a specified Pose2d command

Method Summary

Modifier and Type	Method	Description
Trigger	active()	Returns a trigger that is true while the trajectory is scheduled.
Trigger	done()
void	drawImpl()	Draw to AdvantageScope unconditionally.
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

Methods inherited from interface frc.lib.util.viz.Drawable

draw

Field Details

driveCircleRadius

public static final double driveCircleRadius

Constructor Details

MoveAndAvoidReef

public MoveAndAvoidReef(Swerve swerve,
 Supplier<Pose2d> pose2dSupplier,
 DoubleSupplier maxSpeedSupplier,
 boolean flipForRed,
 double tol,
 double rotTol)

Move to a specified Pose2d command

Parameters:

swerve - Swerve Subsystem

pose2dSupplier - Pose2d Supplier

maxSpeedSupplier - maximum speed to move at

flipForRed - Whether to flip the pose2d for red alliance

tol - Translational Tolerance

rotTol - Rotational Tolerance

MoveAndAvoidReef

public MoveAndAvoidReef(Swerve swerve,
 Supplier<Pose2d> pose2dSupplier,
 DoubleSupplier maxSpeedSupplier,
 boolean flipForRed,
 double tol,
 double rotTol,
 choreo.auto.AutoRoutine autoRoutine)

Move to a specified Pose2d command

Parameters:

swerve - Swerve Subsystem

pose2dSupplier - Pose2d Supplier

maxSpeedSupplier - maximum speed to move at

flipForRed - Whether to flip the pose2d for red alliance

tol - Translational Tolerance

rotTol - Rotational Tolerance

autoRoutine - Choreo AutoRoutine to integrate command

MoveAndAvoidReef

public MoveAndAvoidReef(Swerve swerve,
 Supplier<Pose2d> pose2dSupplier,
 boolean flipForRed,
 double tol,
 double rotTol,
 choreo.auto.AutoRoutine autoRoutine)

Move to a specified Pose2d command

Parameters:

swerve - Swerve Subsystem

pose2dSupplier - Pose2d Supplier

flipForRed - Whether to flip the pose2d for red alliance

tol - Translational Tolerance

rotTol - Rotational Tolerance

autoRoutine - Choreo AutoRoutine to integrate command

Method Details

active

public Trigger active()

Returns a trigger that is true while the trajectory is scheduled.

Returns:

A trigger that is true while the trajectory is scheduled.

done

public Trigger done()

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

drawImpl

public void drawImpl()

Description copied from interface: Drawable

Draw to AdvantageScope unconditionally.

Specified by:

drawImpl in interface Drawable