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 edu.wpi.first.math.filter.Debouncer	alignmentDebouncer
protected final BooleanSupplier	isAligned
private Supplier<edu.wpi.first.math.geometry.Pose2d>	pose
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 BooleanSupplier isAligned

alignmentDebouncer

protected final edu.wpi.first.math.filter.Debouncer alignmentDebouncer

pose

private Supplier<edu.wpi.first.math.geometry.Pose2d> pose

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