Package frc.robot.subsystems.harvester.commands

Class MoveHarvesterToPositionCommand

java.lang.Object
edu.wpi.first.wpilibj2.command.Command
frc.robot.shared.commands.AbstractSubsystemCommand<TSubsystem>
frc.robot.shared.commands.AbstractSetAndSeekCommand<HarvesterSubsystem>
frc.robot.subsystems.harvester.commands.MoveHarvesterToPositionCommand
All Implemented Interfaces:
edu.wpi.first.util.sendable.Sendable
public class MoveHarvesterToPositionCommand extends AbstractSetAndSeekCommand<HarvesterSubsystem>
Drives the harvester arm toward a target angle using its trapezoidal profile. Use this for preset positions (stow/deploy) or variable targets supplied at runtime.

  • 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
    MoveHarvesterToPositionCommand(HarvesterSubsystem harvesterSubsystem, double targetDegrees)
    Builds a profiled harvester move command that drives to a fixed angle.
    MoveHarvesterToPositionCommand(HarvesterSubsystem harvesterSubsystem, Supplier<Double> targetDegreesSupplier)
    Builds a profiled harvester move command that reads the target angle from a supplier.

  • Method Summary

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

    end, execute, isFinished, onInitialize

    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

    • MoveHarvesterToPositionCommand

      public MoveHarvesterToPositionCommand(HarvesterSubsystem harvesterSubsystem, Supplier<Double> targetDegreesSupplier)
      Builds a profiled harvester move command that reads the target angle from a supplier.
      Parameters:
      harvesterSubsystem - harvester subsystem to control
      targetDegreesSupplier - supplier providing the desired arm angle in degrees

    • MoveHarvesterToPositionCommand

      public MoveHarvesterToPositionCommand(HarvesterSubsystem harvesterSubsystem, double targetDegrees)
      Builds a profiled harvester move command that drives to a fixed angle.
      Parameters:
      harvesterSubsystem - harvester subsystem to control
      targetDegrees - desired arm angle in degrees