Package frc.robot.subsystems.turret.commands

Class MoveTurretToAngleCommand

java.lang.Object
edu.wpi.first.wpilibj2.command.Command
frc.robot.shared.commands.AbstractSubsystemCommand<TSubsystem>
frc.robot.shared.commands.AbstractSetAndSeekCommand<TurretSubsystem>
frc.robot.subsystems.turret.commands.MoveTurretToAngleCommand
All Implemented Interfaces:
edu.wpi.first.util.sendable.Sendable
public class MoveTurretToAngleCommand extends AbstractSetAndSeekCommand<TurretSubsystem>
Drives the turret toward a target angle using its trapezoidal profile. Use this for preset positions or coarse moves where hitting the travel limits is acceptable.

  • 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
    MoveTurretToAngleCommand(TurretSubsystem turretSubsystem, double targetDegrees)
    Builds a profiled turret move command that drives to a fixed angle.
    MoveTurretToAngleCommand(TurretSubsystem turretSubsystem, Supplier<Double> targetDegreesSupplier)
    Builds a profiled turret 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

    • MoveTurretToAngleCommand

      public MoveTurretToAngleCommand(TurretSubsystem turretSubsystem, Supplier<Double> targetDegreesSupplier)
      Builds a profiled turret move command that reads the target angle from a supplier.
      Parameters:
      turretSubsystem - turret subsystem to control
      targetDegreesSupplier - supplier providing the desired turret angle in degrees

    • MoveTurretToAngleCommand

      public MoveTurretToAngleCommand(TurretSubsystem turretSubsystem, double targetDegrees)
      Builds a profiled turret move command that drives to a fixed angle.
      Parameters:
      turretSubsystem - turret subsystem to control
      targetDegrees - desired turret angle in degrees