Package frc.robot.shared.commands

Class AbstractSetAndSeekCommandFactory<TSubsystem extends AbstractSetAndSeekSubsystem<?>>

java.lang.Object

frc.robot.shared.commands.AbstractSubsystemCommandFactory<TSubsystem>

frc.robot.shared.commands.AbstractSetAndSeekCommandFactory<TSubsystem>

Direct Known Subclasses:

HarvesterSubsystemCommandFactory, TurretSubsystemCommandFactory

public class AbstractSetAndSeekCommandFactory<TSubsystem extends AbstractSetAndSeekSubsystem<?>>
extends AbstractSubsystemCommandFactory<TSubsystem>

Command factory for set-and-seek style subsystems that exposes common SysId characterization commands while keeping subsystems free of command creation.

Field Summary

Fields inherited from class frc.robot.shared.commands.AbstractSubsystemCommandFactory

subsystem

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	AbstractSetAndSeekCommandFactory(TSubsystem subsystem)	Builds a command factory bound to a set-and-seek subsystem.

Method Summary

Modifier and Type	Method	Description
edu.wpi.first.wpilibj2.command.Command	createResetEncoderCommand()	Creates an instant command that resets the motor encoder to the configured initial position and clears all profile state.
edu.wpi.first.wpilibj2.command.Command	createSysIdDynamicCommand(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction direction)	Creates a dynamic SysId characterization command that applies a step voltage in the requested direction.
edu.wpi.first.wpilibj2.command.Command	createSysIdDynamicCommand(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction direction, double timeoutSeconds)	Creates a dynamic SysId command with a timeout to prevent runaway motion.
edu.wpi.first.wpilibj2.command.Command	createSysIdDynamicCommandWithDefaultTimeout(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction direction)	Creates a dynamic SysId command with a default timeout (3 seconds) to safeguard robot motion.
edu.wpi.first.wpilibj2.command.Command	createSysIdFullSweepCommand()	Creates a full SysId sweep using timing values from the subsystem config.
edu.wpi.first.wpilibj2.command.Command	createSysIdFullSweepCommand(double delaySeconds, double quasistaticTimeoutSecs, double dynamicTimeoutSecs)	Creates a full SysId sweep (quasistatic forward/reverse, dynamic forward/reverse) with optional delays between phases.
edu.wpi.first.wpilibj2.command.Command	createSysIdQuasistaticCommand(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction direction)	Creates a quasistatic SysId characterization command that ramps voltage slowly in the requested direction.
edu.wpi.first.wpilibj2.command.Command	createSysIdQuasistaticCommand(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction direction, double timeoutSeconds)	Creates a quasistatic SysId command with a timeout to prevent runaway motion.
edu.wpi.first.wpilibj2.command.Command	createSysIdQuasistaticCommandWithDefaultTimeout(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction direction)	Creates a quasistatic SysId command with a default timeout (3 seconds) to safeguard robot motion.

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

getSubsystem

Methods inherited from class java.lang.Object

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

Constructor Details

AbstractSetAndSeekCommandFactory

protected AbstractSetAndSeekCommandFactory(TSubsystem subsystem)

Builds a command factory bound to a set-and-seek subsystem.

Parameters:

subsystem - set-and-seek subsystem instance shared by generated commands

Method Details

createResetEncoderCommand

public edu.wpi.first.wpilibj2.command.Command createResetEncoderCommand()

Creates an instant command that resets the motor encoder to the configured initial position and clears all profile state.

Use this to publish a dashboard-triggerable button so operators can recalibrate a mechanism after manually repositioning it to its starting position (e.g., stowing a harvester arm or centering a turret).

Returns:

command that resets the encoder position to the configured initial position

createSysIdQuasistaticCommand

public edu.wpi.first.wpilibj2.command.Command createSysIdQuasistaticCommand(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction direction)

Creates a quasistatic SysId characterization command that ramps voltage slowly in the requested direction.

Parameters:

direction - sweep direction (forward or reverse)

Returns:

command that runs the quasistatic test until completion

createSysIdQuasistaticCommand

public edu.wpi.first.wpilibj2.command.Command createSysIdQuasistaticCommand(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction direction,
 double timeoutSeconds)

Creates a quasistatic SysId command with a timeout to prevent runaway motion.

Parameters:

direction - sweep direction (forward or reverse)

timeoutSeconds - maximum duration before the command ends

Returns:

timed quasistatic SysId command

createSysIdQuasistaticCommandWithDefaultTimeout

public edu.wpi.first.wpilibj2.command.Command createSysIdQuasistaticCommandWithDefaultTimeout(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction direction)

Creates a quasistatic SysId command with a default timeout (3 seconds) to safeguard robot motion.

Parameters:

direction - sweep direction (forward or reverse)

Returns:

timed quasistatic SysId command

createSysIdDynamicCommand

public edu.wpi.first.wpilibj2.command.Command createSysIdDynamicCommand(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction direction)

Creates a dynamic SysId characterization command that applies a step voltage in the requested direction.

Parameters:

direction - sweep direction (forward or reverse)

Returns:

command that runs the dynamic test until completion

createSysIdDynamicCommand

public edu.wpi.first.wpilibj2.command.Command createSysIdDynamicCommand(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction direction,
 double timeoutSeconds)

Creates a dynamic SysId command with a timeout to prevent runaway motion.

Parameters:

direction - sweep direction (forward or reverse)

timeoutSeconds - maximum duration before the command ends

Returns:

timed dynamic SysId command

createSysIdDynamicCommandWithDefaultTimeout

public edu.wpi.first.wpilibj2.command.Command createSysIdDynamicCommandWithDefaultTimeout(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction direction)

Creates a dynamic SysId command with a default timeout (3 seconds) to safeguard robot motion.

Parameters:

direction - sweep direction (forward or reverse)

Returns:

timed dynamic SysId command

createSysIdFullSweepCommand

public edu.wpi.first.wpilibj2.command.Command createSysIdFullSweepCommand()

Creates a full SysId sweep using timing values from the subsystem config.

Reads sysIdDelaySeconds, sysIdQuasistaticTimeoutSeconds, and sysIdDynamicTimeoutSeconds from the subsystem's configuration so each mechanism can define its own timing without changing bindings code.

Returns:

command that executes the four standard SysId tests in sequence

createSysIdFullSweepCommand

public edu.wpi.first.wpilibj2.command.Command createSysIdFullSweepCommand(double delaySeconds,
 double quasistaticTimeoutSecs,
 double dynamicTimeoutSecs)

Creates a full SysId sweep (quasistatic forward/reverse, dynamic forward/reverse) with optional delays between phases.

Parameters:

delaySeconds - pause inserted between each phase to let the mechanism settle

quasistaticTimeoutSecs - timeout for each quasistatic sweep to prevent runaway motion

dynamicTimeoutSecs - timeout for each dynamic sweep to prevent runaway motion

Returns:

command that executes the four standard SysId tests in sequence