Package frc.robot.shared.commands

Class AbstractVelocityCommandFactory<TSubsystem extends AbstractVelocitySubsystem<?>>

java.lang.Object

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

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

Type Parameters:

TSubsystem - concrete velocity subsystem type

Direct Known Subclasses:

FeederSubsystemCommandFactory, IndexerSubsystemCommandFactory, IntakeSubsystemCommandFactory, ShooterSubsystemCommandFactory

public abstract class AbstractVelocityCommandFactory<TSubsystem extends AbstractVelocitySubsystem<?>>
extends AbstractSubsystemCommandFactory<TSubsystem>

Command factory for velocity-controlled 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	AbstractVelocityCommandFactory(TSubsystem subsystem)	Builds a command factory bound to a velocity subsystem.

Method Summary

Modifier and Type	Method	Description
edu.wpi.first.wpilibj2.command.Command	createContinuousVelocityCommand(Supplier<Double> targetRpmSupplier)	Builds a command that continuously reads a target RPM from a supplier and seeks that velocity every cycle.
protected abstract edu.wpi.first.wpilibj2.command.Command	createIdleCommand()	Builds the idle command for this velocity subsystem.
edu.wpi.first.wpilibj2.command.Command	createStopCommand()	Builds a command that stops the mechanism immediately by setting velocity to zero.
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.
edu.wpi.first.wpilibj2.command.Command	setDefaultIdleCommand()	Sets the idle command as the default command for this velocity subsystem.

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

AbstractVelocityCommandFactory

protected AbstractVelocityCommandFactory(TSubsystem subsystem)

Builds a command factory bound to a velocity subsystem.

Parameters:

subsystem - velocity subsystem instance shared by generated commands

Method Details

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

createStopCommand

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

Builds a command that stops the mechanism immediately by setting velocity to zero.

Returns:

command that stops the motor in a single cycle

setDefaultIdleCommand

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

Sets the idle command as the default command for this velocity subsystem.

Call this once during RobotContainer construction so the subsystem returns to its idle behavior whenever no other command is scheduled.

Returns:

the idle command that was set as default

createContinuousVelocityCommand

public edu.wpi.first.wpilibj2.command.Command createContinuousVelocityCommand(Supplier<Double> targetRpmSupplier)

Builds a command that continuously reads a target RPM from a supplier and seeks that velocity every cycle.

Unlike commands that lock the target at initialization, this command re-evaluates the supplier each cycle. Use this when the target is backed by a tunable value that operators may adjust while the command is running.

When the command ends (button released or interrupted), the subsystem targets zero RPM and runs one final control cycle so the motor, simulation model, and telemetry all reflect the stopped state.

Parameters:

targetRpmSupplier - provider for the target RPM; evaluated every execute cycle

Returns:

command that continuously tracks the supplied RPM until interrupted, then stops cleanly

createIdleCommand

protected abstract edu.wpi.first.wpilibj2.command.Command createIdleCommand()

Builds the idle command for this velocity subsystem.

Each concrete factory returns its own idle command type. The base factory uses this method in setDefaultIdleCommand() to wire the subsystem's default behavior.

Returns:

command that idles the mechanism at its configured idle RPM