Package frc.robot.commands

Class PathCommand

java.lang.Object
edu.wpi.first.wpilibj2.command.Command
frc.robot.commands.PathCommand
All Implemented Interfaces:
edu.wpi.first.util.sendable.Sendable
public class PathCommand 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
    static final double
    kMaxSpeedPerSecondSquared
     
    static final edu.wpi.first.math.trajectory.TrapezoidProfile.Constraints
    kThetaControllerConstraints
     
    edu.wpi.first.math.controller.ProfiledPIDController
    snapController
     
    edu.wpi.first.math.controller.ProfiledPIDController
    xController
     
    edu.wpi.first.math.controller.ProfiledPIDController
    yController
     

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

    m_requirements

  • Constructor Summary

    Constructors
    Constructor
    Description
    PathCommand(SwerveSubsystem swerveSubsystem, double x, double y, double angle)
     

  • 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

  • Field Details

    • kMaxSpeedPerSecondSquared

      public static final double kMaxSpeedPerSecondSquared

    • kThetaControllerConstraints

      public static final edu.wpi.first.math.trajectory.TrapezoidProfile.Constraints kThetaControllerConstraints

    • snapController

      public edu.wpi.first.math.controller.ProfiledPIDController snapController

    • xController

      public edu.wpi.first.math.controller.ProfiledPIDController xController

    • yController

      public edu.wpi.first.math.controller.ProfiledPIDController yController

  • Constructor Details

    • PathCommand

      public PathCommand(SwerveSubsystem swerveSubsystem, double x, double y, double angle)

  • 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