Package frc.robot.shared.commands

Class SetAndSeekSettleCommand<TSubsystem extends AbstractSetAndSeekSubsystem<?>>

java.lang.Object
edu.wpi.first.wpilibj2.command.Command
frc.robot.shared.commands.AbstractSubsystemCommand<TSubsystem>
frc.robot.shared.commands.SetAndSeekSettleCommand<TSubsystem>
Type Parameters:
TSubsystem - concrete set-and-seek subsystem type
All Implemented Interfaces:
edu.wpi.first.util.sendable.Sendable
public class SetAndSeekSettleCommand<TSubsystem extends AbstractSetAndSeekSubsystem<?>> extends AbstractSubsystemCommand<TSubsystem>
Retargets a set-and-seek subsystem to its current position and runs the profiled controller until it reports settled, then stops the motor. This reset uses the live position and velocity so the controller decelerates smoothly instead of snapping back to a stale setpoint.

  • 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
    Constructor
    Description
    SetAndSeekSettleCommand(TSubsystem subsystem)
    Creates a settle 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

    • SetAndSeekSettleCommand

      public SetAndSeekSettleCommand(TSubsystem subsystem)
      Creates a settle command for the given subsystem.
      Parameters:
      subsystem - set-and-seek subsystem to hold in place

  • Method Details

    • execute

      public void execute()
      Overrides:
      execute in class edu.wpi.first.wpilibj2.command.Command

    • isFinished

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

    • end

      public void end(boolean interrupted)
      Overrides:
      end 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<?>>