Package frc.robot.subsystems.swerve.util

Class TurnToRotation

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

frc.robot.subsystems.swerve.util.TurnToRotation

All Implemented Interfaces:

Sendable

public class TurnToRotation
extends Command

This command will turn the robot to a specified angle.

Nested Class Summary

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

Command.InterruptionBehavior

Constructor Summary

Constructors

Constructor	Description
TurnToRotation(Swerve swerve, double angle, boolean isRelative)	Turns robot to specified angle.
TurnToRotation(Swerve swerve, Supplier<Rotation2d> angle, boolean isRelative)	Turns robot to specified angle.

Method Summary

Modifier and Type	Method	Description
void	end(boolean interrupt)
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

Constructor Details

TurnToRotation

public TurnToRotation(Swerve swerve,
 double angle,
 boolean isRelative)

Turns robot to specified angle. Uses absolute rotation on field.

Parameters:

swerve - Swerve subsystem

angle - Requested angle to turn to

isRelative - Whether the angle is relative to the current angle: true = relative, false = absolute

TurnToRotation

public TurnToRotation(Swerve swerve,
 Supplier<Rotation2d> angle,
 boolean isRelative)

Turns robot to specified angle. Uses absolute rotation on field.

Parameters:

swerve - Swerve subsystem

angle - Supplier that provides the requested angle to turn to

isRelative - Whether the angle is relative to the current angle: true = relative, false = absolute

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 interrupt)

Overrides:

end in class Command

isFinished

public boolean isFinished()

Overrides:

isFinished in class Command