Package frc.robot.commands

Class DriveCommands

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

frc.robot.commands.DriveCommands

All Implemented Interfaces:

edu.wpi.first.util.sendable.Sendable

public class DriveCommands
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 inherited from class edu.wpi.first.wpilibj2.command.Command

m_requirements

Constructor Summary

Constructors

Constructor	Description
DriveCommands(SwerveSubsystem swerveSubsystem, DoubleSupplier forward, DoubleSupplier sideways, DoubleSupplier radians, boolean fieldRelative, boolean limited)	This class contains all the drive commands for swerve

Method Summary

Modifier and Type	Method	Description
void	end(boolean interrupted)
void	execute()

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

addRequirements, alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineWith, finallyDo, finallyDo, getInterruptionBehavior, getName, getRequirements, getSubsystem, handleInterrupt, hasRequirement, ignoringDisable, initialize, initSendable, isFinished, isScheduled, onlyIf, onlyWhile, raceWith, repeatedly, runsWhenDisabled, schedule, setName, setSubsystem, unless, until, withInterruptBehavior, withName, withTimeout

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

DriveCommands

public DriveCommands(SwerveSubsystem swerveSubsystem,
 DoubleSupplier forward,
 DoubleSupplier sideways,
 DoubleSupplier radians,
 boolean fieldRelative,
 boolean limited)

This class contains all the drive commands for swerve

Parameters:

swerveSubsystem - SwerveSubsystem instance for controlling the swerve drive

forward - The target forward meters/second

sideways - The target sideways meters/second

radians - The target radian for the rotation

fieldRelative - If the swerve should be relative to the robot or the field

limited - If we are limiting the motors

Method Details

execute

public void execute()

Overrides:

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

end

public void end(boolean interrupted)

Overrides:

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