Package io.github.frc5024.lib5k.bases.drivetrain.commands

Class TurnToCommand

java.lang.Object

edu.wpi.first.wpilibj2.command.CommandBase

io.github.frc5024.lib5k.bases.drivetrain.commands.TurnToCommand

All Implemented Interfaces:

Sendable, Command

public class TurnToCommand
extends CommandBase

A command for making drivetrains turn to a specific heading.

Field Summary

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

m_requirements

Constructor Summary

Constructors

Constructor	Description
TurnToCommand(AbstractDriveTrain driveTrain, Rotation2d fieldRelativeAngle, Rotation2d epsilon)	Create a new TurnToCommand
TurnToCommand(AbstractDriveTrain driveTrain, Rotation2d angle, Rotation2d epsilon, boolean fieldRelative)	Create a new TurnToCommand
TurnToCommand(AbstractDriveTrain driveTrain, Rotation2d fieldRelativeAngle, Rotation2d epsilon, double speedCap)	Create a new TurnToCommand
TurnToCommand(AbstractDriveTrain driveTrain, Rotation2d angle, Rotation2d epsilon, double speedCap, boolean fieldRelative)	Create a new TurnToCommand

Method Summary

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, withName

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(AbstractDriveTrain driveTrain,
                     Rotation2d fieldRelativeAngle,
                     Rotation2d epsilon)

Create a new TurnToCommand

Parameters:

driveTrain - DriveTrain to control

fieldRelativeAngle - Desired heading (field-relative)

epsilon - Rotational epsilon

TurnToCommand

public TurnToCommand(AbstractDriveTrain driveTrain,
                     Rotation2d angle,
                     Rotation2d epsilon,
                     boolean fieldRelative)

Create a new TurnToCommand

Parameters:

driveTrain - DriveTrain to control

angle - Desired heading

epsilon - Rotational epsilon

fieldRelative - Is the desired heading field-relative?

TurnToCommand

public TurnToCommand(AbstractDriveTrain driveTrain,
                     Rotation2d fieldRelativeAngle,
                     Rotation2d epsilon,
                     double speedCap)

Create a new TurnToCommand

Parameters:

driveTrain - DriveTrain to control

fieldRelativeAngle - Desired heading (field-relative)

epsilon - Rotational epsilon

speedCap - Maximum speed as a percent

TurnToCommand

public TurnToCommand(AbstractDriveTrain driveTrain,
                     Rotation2d angle,
                     Rotation2d epsilon,
                     double speedCap,
                     boolean fieldRelative)

Create a new TurnToCommand

Parameters:

driveTrain - DriveTrain to control

angle - Desired heading

epsilon - Rotational epsilon

speedCap - Maximum speed as a percent

fieldRelative - Is the desired heading field-relative?

Method Detail

initialize

public void initialize()

execute

public void execute()

end

public void end(boolean interrupted)

isFinished

public boolean isFinished()