Package frc.robot.commands.swervedrive.auto

Class AutoBalanceCommand

java.lang.Object
edu.wpi.first.wpilibj2.command.Command
frc.robot.commands.swervedrive.auto.AutoBalanceCommand
All Implemented Interfaces:
edu.wpi.first.util.sendable.Sendable
public class AutoBalanceCommand extends edu.wpi.first.wpilibj2.command.Command
Auto Balance command using a simple PID controller. Created by Team 3512 ...

  • 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
    AutoBalanceCommand(SwerveSubsystem swerveSubsystem)
     

  • Method Summary

    Modifier and Type
    Method
    Description
    void
    end(boolean interrupted)
    The action to take when the command ends.
    void
    execute()
    The main body of a command.
    void
    initialize()
    The initial subroutine of a command.
    boolean
    isFinished()
    Returns whether this command has finished.

    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

    • AutoBalanceCommand

      public AutoBalanceCommand(SwerveSubsystem swerveSubsystem)

  • Method Details

    • initialize

      public void initialize()
      The initial subroutine of a command. Called once when the command is initially scheduled.
      Overrides:
      initialize in class edu.wpi.first.wpilibj2.command.Command

    • execute

      public void execute()
      The main body of a command. Called repeatedly while the command is scheduled. (That is, it is called repeatedly until isFinished()) returns true.)
      Overrides:
      execute in class edu.wpi.first.wpilibj2.command.Command

    • isFinished

      public boolean isFinished()

      Returns whether this command has finished. Once a command finishes -- indicated by this method returning true -- the scheduler will call its end(boolean) method.

      Returning false will result in the command never ending automatically. It may still be cancelled manually or interrupted by another command. Hard coding this command to always return true will result in the command executing once and finishing immediately. It is recommended to use * InstantCommand for such an operation.

      Overrides:
      isFinished in class edu.wpi.first.wpilibj2.command.Command
      Returns:
      whether this command has finished.

    • end

      public void end(boolean interrupted)
      The action to take when the command ends. Called when either the command finishes normally -- that is it is called when isFinished() returns true -- or when it is interrupted/canceled. This is where you may want to wrap up loose ends, like shutting off a motor that was being used in the command.
      Overrides:
      end in class edu.wpi.first.wpilibj2.command.Command
      Parameters:
      interrupted - whether the command was interrupted/canceled