Package frc.robot

Class CommandFactory

java.lang.Object

frc.robot.CommandFactory

public class CommandFactory
extends Object

Command Factory

Constructor Summary

Constructors

Constructor	Description
CommandFactory()

Method Summary

Modifier and Type	Method	Description
static Command	followHub(Turret turret, Swerve swerve, DoubleSupplier trimRight)	Point turret at hub.
static Command	preShoot(Supplier<Pose2d> robotPoseSupplier, Supplier<Translation2d> targetSupplier, Turret turret, Shooter shooter, DoubleSupplier adjustUp, DoubleSupplier adjustRight)	Prepare flywheel and turret for shooting from a given robot pose.
static Command	resetInit(Swerve swerve, Turret turret)	Reset the init
static Command	shoot(RobotState state, Supplier<Translation2d> targetSupplier, Turret turret, Shooter shooter, Indexer indexer, AdjustableHood hood, DoubleSupplier adjustUp, DoubleSupplier adjustLeft, BooleanSupplier disableTurret)	Shoot at a given target.

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

preShoot

public static Command preShoot(Supplier<Pose2d> robotPoseSupplier,
 Supplier<Translation2d> targetSupplier,
 Turret turret,
 Shooter shooter,
 DoubleSupplier adjustUp,
 DoubleSupplier adjustRight)

Prepare flywheel and turret for shooting from a given robot pose.

shoot

public static Command shoot(RobotState state,
 Supplier<Translation2d> targetSupplier,
 Turret turret,
 Shooter shooter,
 Indexer indexer,
 AdjustableHood hood,
 DoubleSupplier adjustUp,
 DoubleSupplier adjustLeft,
 BooleanSupplier disableTurret)

Shoot at a given target.

followHub

public static Command followHub(Turret turret,
 Swerve swerve,
 DoubleSupplier trimRight)

Point turret at hub.

resetInit

public static Command resetInit(Swerve swerve,
 Turret turret)

Reset the init