Package frc.robot.commands

Class RotateToCorner

java.lang.Object
edu.wpi.first.wpilibj2.command.Command
frc.robot.commands.RotateToCorner
All Implemented Interfaces:
edu.wpi.first.util.sendable.Sendable
public class RotateToCorner 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
    RotateToCorner(SwerveSubsystem swerveSubsystem, DoubleSupplier forward, DoubleSupplier sideways, edu.wpi.first.math.geometry.Pose2d bluePose, edu.wpi.first.math.geometry.Pose2d redPose)
    Rotates the robot to face the corner near the amp, while still allowing the driver to control forward and backward movement

  • Method Summary

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

    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, 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

    • RotateToCorner

      public RotateToCorner(SwerveSubsystem swerveSubsystem, DoubleSupplier forward, DoubleSupplier sideways, edu.wpi.first.math.geometry.Pose2d bluePose, edu.wpi.first.math.geometry.Pose2d redPose)
      Rotates the robot to face the corner near the amp, while still allowing the driver to control forward and backward movement
      Parameters:
      swerveSubsystem - The instance of SwerveSubsystem
      forward - The desired forward percentage of the robot
      sideways - The desired sideways percentage of the robot

  • Method Details

    • execute

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

    • initialize

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

    • end

      public void end(boolean interrupted)
      Overrides:
      end in class edu.wpi.first.wpilibj2.command.Command