TurnToCommand (InfiniteRecharge API)

java.lang.Object
- edu.wpi.first.wpilibj2.command.CommandBase
- - frc.robot.autonomous.actions.TurnToCommand

All Implemented Interfaces:

edu.wpi.first.wpilibj.Sendable, edu.wpi.first.wpilibj2.command.Command
```
public class TurnToCommand
extends edu.wpi.first.wpilibj2.command.CommandBase
```
Command for handling autonomous turning with PID solve

Field Summary
- Fields inherited from class edu.wpi.first.wpilibj2.command.CommandBase
  m_requirements

Constructor Summary

Constructors
Constructor	Description
`TurnToCommand(double angleDegs)`	Turn to a field-relative angle
`TurnToCommand(double angleDegs, double epsilon)`	Turn to a field-relative angle
`TurnToCommand(edu.wpi.first.wpilibj.geometry.Rotation2d setpoint)`	Turn to a field-relative angle
`TurnToCommand(edu.wpi.first.wpilibj.geometry.Rotation2d setpoint, double epsilon)`	Turn to a field-relative angle

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type Method Description

void end(boolean interrupted)

void execute()

void initialize()

boolean isFinished()
- Methods inherited from class edu.wpi.first.wpilibj2.command.CommandBase
  addRequirements, getName, getRequirements, getSubsystem, initSendable, setName, setSubsystem
- Methods inherited from class java.lang.Object
  clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
- Methods inherited from interface edu.wpi.first.wpilibj2.command.Command
  alongWith, andThen, andThen, asProxy, beforeStarting, cancel, deadlineWith, hasRequirement, isScheduled, perpetually, raceWith, runsWhenDisabled, schedule, schedule, withInterrupt, withTimeout
- Methods inherited from interface edu.wpi.first.wpilibj.Sendable
  addChild, setName, setName, setName

- Constructor Detail
  - TurnToCommand
```
public TurnToCommand(double angleDegs)
```
    Turn to a field-relative angle
    
    Parameters:
    
    angleDegs - Desired angle in degrees (field-relative)
  - TurnToCommand
```
public TurnToCommand(double angleDegs,
                     double epsilon)
```
    Turn to a field-relative angle
    
    Parameters:
    
    angleDegs - Desired angle in degrees (field-relative)
    
    epsilon - Allowed error (in degrees)
  - TurnToCommand
```
public TurnToCommand(edu.wpi.first.wpilibj.geometry.Rotation2d setpoint)
```
    Turn to a field-relative angle
    
    Parameters:
    
    setpoint - Desired angle as rotation vector (field-relative)
  - TurnToCommand
```
public TurnToCommand(edu.wpi.first.wpilibj.geometry.Rotation2d setpoint,
                     double epsilon)
```
    Turn to a field-relative angle
    
    Parameters:
    
    setpoint - Desired angle as rotation vector (field-relative)
    
    epsilon - Allowed error (in degrees)
- Method Detail
  - initialize
```
public void initialize()
```
  - execute
```
public void execute()
```
  - end
```
public void end(boolean interrupted)
```
  - isFinished
```
public boolean isFinished()
```