Package frc.robot.commands.swervedrive.drivebase

Class AbsoluteDrive

java.lang.Object
edu.wpi.first.wpilibj2.command.Command
frc.robot.commands.swervedrive.drivebase.AbsoluteDrive
All Implemented Interfaces:
edu.wpi.first.util.sendable.Sendable
public class AbsoluteDrive extends edu.wpi.first.wpilibj2.command.Command
An example command that uses an example subsystem.

  • 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 edu.wpi.first.wpilibj2.command.Command

    m_requirements

  • Constructor Summary

    Constructors
    Constructor
    Description
    AbsoluteDrive(SwerveSubsystem swerve, DoubleSupplier vX, DoubleSupplier vY, DoubleSupplier headingHorizontal, DoubleSupplier headingVertical)
    Used to drive a swerve robot in full field-centric mode.

  • Method Summary

    Modifier and Type
    Method
    Description
    void
    end(boolean interrupted)
     
    void
    execute()
     
    void
    initialize()
     
    boolean
    isFinished()
     

    Methods inherited from class edu.wpi.first.wpilibj2.command.Command

    addRequirements, alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineWith, finallyDo, finallyDo, getInterruptionBehavior, getName, getRequirements, getSubsystem, handleInterrupt, hasRequirement, ignoringDisable, initSendable, isScheduled, onlyIf, onlyWhile, raceWith, repeatedly, runsWhenDisabled, schedule, setName, setSubsystem, unless, until, withInterruptBehavior, withName, withTimeout

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

  • Constructor Details

    • AbsoluteDrive

      public AbsoluteDrive(SwerveSubsystem swerve, DoubleSupplier vX, DoubleSupplier vY, DoubleSupplier headingHorizontal, DoubleSupplier headingVertical)
      Used to drive a swerve robot in full field-centric mode. vX and vY supply translation inputs, where x is torwards/away from alliance wall and y is left/right. headingHorzontal and headingVertical are the Cartesian coordinates from which the robot's angle will be derived— they will be converted to a polar angle, which the robot will rotate to.
      Parameters:
      swerve - The swerve drivebase subsystem.
      vX - DoubleSupplier that supplies the x-translation joystick input. Should be in the range -1 to 1 with deadband already accounted for. Positive X is away from the alliance wall.
      vY - DoubleSupplier that supplies the y-translation joystick input. Should be in the range -1 to 1 with deadband already accounted for. Positive Y is towards the left wall when looking through the driver station glass.
      headingHorizontal - DoubleSupplier that supplies the horizontal component of the robot's heading angle. In the robot coordinate system, this is along the same axis as vY. Should range from -1 to 1 with no deadband. Positive is towards the left wall when looking through the driver station glass.
      headingVertical - DoubleSupplier that supplies the vertical component of the robot's heading angle. In the robot coordinate system, this is along the same axis as vX. Should range from -1 to 1 with no deadband. Positive is away from the alliance wall.

  • Method Details

    • initialize

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

    • execute

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

    • end

      public void end(boolean interrupted)
      Overrides:
      end in class edu.wpi.first.wpilibj2.command.Command

    • isFinished

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