Package frc.robot.subsystems.swerve.util

Class MoveToPose

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

frc.robot.subsystems.swerve.util.MoveToPose

All Implemented Interfaces:

Sendable

@NullMarked
public class MoveToPose
extends Command

Command that drives a swerve drivetrain to a specified field-relative pose using a HolonomicDriveController.

This command continuously computes robot-relative chassis speeds that reduce translational and rotational error to a target Pose2d. The command finishes once the robot is within the specified translation and rotation tolerances.

The target pose may be supplied dynamically (e.g., from vision or an autonomous routine). An optional alliance-based pose flip can be applied automatically for red alliance operation.

Output chassis speeds are robot-relative and are clamped to a configurable maximum translational speed.

This command is typically created via Swerve.moveToPose(...) and should not be instantiated directly.

Nested Class Summary

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

Command.InterruptionBehavior

Constructor Summary

Constructors

Constructor	Description
MoveToPose(Swerve swerve, Consumer<ChassisSpeeds> robotRelativeConsumer, Supplier<Pose2d> target, @Nullable choreo.auto.AutoRoutine autoRoutine, DoubleSupplier maxSpeed, boolean flipForRed, double translationTolerance, double rotationTolerance)	Constructs a command that drives the robot to a target pose.

Method Summary

Modifier and Type	Method	Description
Trigger	active()	Returns a trigger that is true while this command is actively running.
Trigger	done()	Returns a trigger that becomes true once the command has completed successfully.
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

Constructor Details

MoveToPose

public MoveToPose(Swerve swerve,
 Consumer<ChassisSpeeds> robotRelativeConsumer,
 Supplier<Pose2d> target,
 @Nullable choreo.auto.AutoRoutine autoRoutine,
 DoubleSupplier maxSpeed,
 boolean flipForRed,
 double translationTolerance,
 double rotationTolerance)

Constructs a command that drives the robot to a target pose.

Note: This constructor is intended for use by generated builders. Prefer Swerve.moveToPose(...) when creating this command.

Parameters:

swerve - drivetrain subsystem providing pose estimation

robotRelativeConsumer - consumer that accepts robot-relative chassis speeds

target - supplier providing the desired field-relative target pose

autoRoutine - optional autonomous routine used to scope triggers

maxSpeed - supplier providing the maximum allowed translational speed (m/s)

flipForRed - whether to mirror the target pose for red alliance

translationTolerance - allowable positional error (meters)

rotationTolerance - allowable angular error (radians)

Method Details

active

public Trigger active()

Returns a trigger that is true while this command is actively running.

If associated with an AutoRoutine, the trigger is also gated by the routine's active state.

Returns:

trigger indicating whether the command is currently active

done

public Trigger done()

Returns a trigger that becomes true once the command has completed successfully.

The trigger remains true until the command is restarted.

Returns:

trigger indicating completion of the command

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