Package com.stuypulse.robot.commands.swerve.PIDtoPose

Class SwerveDrivePIDToPose

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

com.stuypulse.robot.commands.swerve.PIDtoPose.SwerveDrivePIDToPose

All Implemented Interfaces:

edu.wpi.first.util.sendable.Sendable

public class SwerveDrivePIDToPose
extends edu.wpi.first.wpilibj2.command.Command

Nested Class Summary

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

edu.wpi.first.wpilibj2.command.Command.InterruptionBehavior

Constructor Summary

Constructors

Constructor	Description
SwerveDrivePIDToPose(edu.wpi.first.math.geometry.Pose2d targetPose)
SwerveDrivePIDToPose(Supplier<edu.wpi.first.math.geometry.Pose2d> targetPose)

Method Summary

Modifier and Type	Method	Description
void	end(boolean interrupted)
void	execute()
void	initialize()
boolean	isAligned()
boolean	isAlignedTheta()
boolean	isAlignedX()
boolean	isAlignedY()
boolean	isFinished()
SwerveDrivePIDToPose	withCanEnd(Supplier<Boolean> canEnd)
SwerveDrivePIDToPose	withoutMotionProfile()
SwerveDrivePIDToPose	withTolerance(double x, double y, edu.wpi.first.math.geometry.Rotation2d theta)
SwerveDrivePIDToPose	withTranslationalConstraints(double maxVelocity, double maxAcceleration)

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

SwerveDrivePIDToPose

public SwerveDrivePIDToPose(edu.wpi.first.math.geometry.Pose2d targetPose)

SwerveDrivePIDToPose

public SwerveDrivePIDToPose(Supplier<edu.wpi.first.math.geometry.Pose2d> targetPose)

Method Details

withTolerance

public SwerveDrivePIDToPose withTolerance(double x,
 double y,
 edu.wpi.first.math.geometry.Rotation2d theta)

withTranslationalConstraints

public SwerveDrivePIDToPose withTranslationalConstraints(double maxVelocity,
 double maxAcceleration)

withoutMotionProfile

public SwerveDrivePIDToPose withoutMotionProfile()

withCanEnd

public SwerveDrivePIDToPose withCanEnd(Supplier<Boolean> canEnd)

initialize

public void initialize()

Overrides:

initialize in class edu.wpi.first.wpilibj2.command.Command

isAlignedX

public boolean isAlignedX()

isAlignedY

public boolean isAlignedY()

isAlignedTheta

public boolean isAlignedTheta()

isAligned

public boolean isAligned()

execute

public void execute()

Overrides:

execute in class edu.wpi.first.wpilibj2.command.Command

isFinished

public boolean isFinished()

Overrides:

isFinished in class edu.wpi.first.wpilibj2.command.Command

end

public void end(boolean interrupted)

Overrides:

end in class edu.wpi.first.wpilibj2.command.Command