Package com.stuypulse.robot.commands.swerve.driveAligned

Class SwerveDriveSetAlignment

java.lang.Object
edu.wpi.first.wpilibj2.command.Command
com.stuypulse.robot.commands.swerve.driveAligned.SwerveDriveSetAlignment
All Implemented Interfaces:
edu.wpi.first.util.sendable.Sendable
Direct Known Subclasses:
SwerveDriveAlignToFerryZone, SwerveDriveAlignToHub
public class SwerveDriveSetAlignment 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

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    protected final com.stuypulse.stuylib.streams.booleans.BStream
    isAligned
     
    protected static final CommandSwerveDrivetrain
    swerve
     

  • Constructor Summary

    Constructors
    Modifier
    Constructor
    Description
    protected
    SwerveDriveSetAlignment(Supplier<edu.wpi.first.math.geometry.Pose2d> pose)
     

  • Method Summary

    Modifier and Type
    Method
    Description
    void
    execute()
     
    edu.wpi.first.math.geometry.Rotation2d
    getTargetAngle()
     
    boolean
    isFinished()
     

    Methods inherited from class edu.wpi.first.wpilibj2.command.Command

    addRequirements, addRequirements, alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineFor, deadlineWith, end, finallyDo, finallyDo, getInterruptionBehavior, getName, getRequirements, getSubsystem, handleInterrupt, hasRequirement, ignoringDisable, initialize, 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

  • Field Details

    • swerve

      protected static final CommandSwerveDrivetrain swerve

    • isAligned

      protected final com.stuypulse.stuylib.streams.booleans.BStream isAligned

  • Constructor Details

    • SwerveDriveSetAlignment

      protected SwerveDriveSetAlignment(Supplier<edu.wpi.first.math.geometry.Pose2d> pose)

  • Method Details

    • getTargetAngle

      public edu.wpi.first.math.geometry.Rotation2d getTargetAngle()

    • isFinished

      public boolean isFinished()
      Overrides:
      isFinished in class edu.wpi.first.wpilibj2.command.Command

    • execute

      public void execute()
      Overrides:
      execute in class edu.wpi.first.wpilibj2.command.Command