Package frc.robot.shared.commands

Class AbstractIdleVelocityCommand<TSubsystem extends AbstractVelocitySubsystem<?>>

java.lang.Object
edu.wpi.first.wpilibj2.command.Command
frc.robot.shared.commands.AbstractSubsystemCommand<TSubsystem>
frc.robot.shared.commands.AbstractIdleVelocityCommand<TSubsystem>
Type Parameters:
TSubsystem - concrete velocity subsystem type
All Implemented Interfaces:
edu.wpi.first.util.sendable.Sendable
Direct Known Subclasses:
IdleFeederCommand, IdleIndexerCommand, IdleIntakeCommand, IdleShooterCommand
public class AbstractIdleVelocityCommand<TSubsystem extends AbstractVelocitySubsystem<?>> extends AbstractSubsystemCommand<TSubsystem>
Default command that maintains the idle velocity configured for a velocity subsystem.

Set this as the default command so the mechanism keeps spinning at the idle RPM when no other command is running. The command never finishes on its own; it runs until interrupted by a higher-priority command (such as a spin-up for shooting). When interrupted, the motor is intentionally left running because the replacement command takes over motor control immediately. The WPILib command scheduler guarantees a default command is rescheduled within one cycle of interruption, so there is no gap where the motor would spin uncontrolled.

  • 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 frc.robot.shared.commands.AbstractSubsystemCommand

    log, subsystem

  • Constructor Summary

    Constructors
    Modifier
    Constructor
    Description
    protected
    AbstractIdleVelocityCommand(TSubsystem subsystem)
    Creates an idle command for the given velocity subsystem.

  • Method Summary

    Modifier and Type
    Method
    Description
    void
    end(boolean interrupted)
     
    void
    execute()
     
    boolean
    isFinished()
     
    protected void
    onInitialize()
    Optional hook for subclasses to run logic during initialize after the start log.

    Methods inherited from class frc.robot.shared.commands.AbstractSubsystemCommand

    initialize

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

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

    Methods inherited from class java.lang.Object

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

  • Constructor Details

    • AbstractIdleVelocityCommand

      protected AbstractIdleVelocityCommand(TSubsystem subsystem)
      Creates an idle command for the given velocity subsystem.
      Parameters:
      subsystem - subsystem instance to hold at idle RPM

  • 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

    • isFinished

      public boolean isFinished()
      Overrides:
      isFinished in class edu.wpi.first.wpilibj2.command.Command

    • onInitialize

      protected void onInitialize()
      Description copied from class: AbstractSubsystemCommand
      Optional hook for subclasses to run logic during initialize after the start log.
      Overrides:
      onInitialize in class AbstractSubsystemCommand<TSubsystem extends AbstractVelocitySubsystem<?>>