Package frc.robot.shared.commands

Class AbstractSetAndSeekCommand<TSubsystem extends AbstractSetAndSeekSubsystem<?>>

java.lang.Object
edu.wpi.first.wpilibj2.command.Command
frc.robot.shared.commands.AbstractSubsystemCommand<TSubsystem>
frc.robot.shared.commands.AbstractSetAndSeekCommand<TSubsystem>
Type Parameters:
TSubsystem - concrete set-and-seek subsystem type
All Implemented Interfaces:
edu.wpi.first.util.sendable.Sendable
Direct Known Subclasses:
MoveHarvesterToPositionCommand, MoveTurretToAngleCommand
public class AbstractSetAndSeekCommand<TSubsystem extends AbstractSetAndSeekSubsystem<?>> extends AbstractSubsystemCommand<TSubsystem>
Command base that drives a AbstractSetAndSeekSubsystem toward a supplied target using its trapezoidal profile.

Extend this class to bind operator inputs or autonomous goals without having the subsystem manufacture commands. Provide a target supplier in the constructor; the command will set the goal on initialize, step the profile each cycle, and finish once the subsystem reports AbstractSetAndSeekSubsystem.isProfileSettled().

  • 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
    AbstractSetAndSeekCommand(TSubsystem subsystem, Supplier<Double> targetSupplier)
    Builds a profiled seek command for the given 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

    • AbstractSetAndSeekCommand

      protected AbstractSetAndSeekCommand(TSubsystem subsystem, Supplier<Double> targetSupplier)
      Builds a profiled seek command for the given subsystem.
      Parameters:
      subsystem - subsystem instance to control
      targetSupplier - provider for target positions; evaluated on initialize

  • 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 AbstractSetAndSeekSubsystem<?>>