mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-21 01:01:43 +00:00
29 lines
818 B
C++
29 lines
818 B
C++
|
#include "SetWristSetpoint.h"
|
||
|
|
#include "Robot.h"
|
||
|
|
|
||
|
|
SetWristSetpoint::SetWristSetpoint(double setpoint) : Command("SetWristSetpoint") {
|
||
|
|
this->setpoint = setpoint;
|
||
|
|
Requires(Robot::wrist);
|
||
|
|
}
|
||
|
|
|
||
|
|
// Called just before this Command runs the first time
|
||
|
|
void SetWristSetpoint::Initialize() {
|
||
|
|
Robot::wrist->SetSetpoint(setpoint);
|
||
|
|
Robot::wrist->Enable();
|
||
|
|
}
|
||
|
|
|
||
|
|
// Called repeatedly when this Command is scheduled to run
|
||
|
|
void SetWristSetpoint::Execute() {}
|
||
|
|
|
||
|
|
// Make this return true when this Command no longer needs to run execute()
|
||
|
|
bool SetWristSetpoint::IsFinished() {
|
||
|
|
return Robot::wrist->OnTarget();
|
||
|
|
}
|
||
|
|
|
||
|
|
// Called once after isFinished returns true
|
||
|
|
void SetWristSetpoint::End() {}
|
||
|
|
|
||
|
|
// Called when another command which requires one or more of the same
|
||
|
|
// subsystems is scheduled to run
|
||
|
|
void SetWristSetpoint::Interrupted() {}
|