Package frc.robot.subsystems.indexer.commands

Class ReverseIndexerCommand

java.lang.Object
edu.wpi.first.wpilibj2.command.Command
frc.robot.shared.commands.AbstractSubsystemCommand<TSubsystem>
frc.robot.shared.commands.AbstractVelocityCommand<IndexerSubsystem>
frc.robot.subsystems.indexer.commands.ReverseIndexerCommand
All Implemented Interfaces:
edu.wpi.first.util.sendable.Sendable
public class ReverseIndexerCommand extends AbstractVelocityCommand<IndexerSubsystem>
Command that spins the indexer roller in reverse to back Fuel toward the feeder.

The target RPM supplier is evaluated once on initialize. Pass a negative RPM to reverse the roller direction. The command finishes when the roller reaches the target velocity and has been stable for the configured settle time.

  • 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
    ReverseIndexerCommand(IndexerSubsystem subsystem, double targetRpm)
    Creates a reverse command that drives the roller at a fixed negative RPM.
    ReverseIndexerCommand(IndexerSubsystem subsystem, Supplier<Double> targetRpmSupplier)
    Creates a reverse command that reads its target RPM from a supplier.

  • Method Summary

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

    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

    • ReverseIndexerCommand

      public ReverseIndexerCommand(IndexerSubsystem subsystem, Supplier<Double> targetRpmSupplier)
      Creates a reverse command that reads its target RPM from a supplier.
      Parameters:
      subsystem - indexer subsystem to control
      targetRpmSupplier - provider for the target reverse RPM (negative value); evaluated on initialize

    • ReverseIndexerCommand

      public ReverseIndexerCommand(IndexerSubsystem subsystem, double targetRpm)
      Creates a reverse command that drives the roller at a fixed negative RPM.
      Parameters:
      subsystem - indexer subsystem to control
      targetRpm - fixed target reverse RPM (negative value for backward rotation)