Package frc.alotobots.library.subsystems.swervedrive.commands

Class DrivePrecisionAlign

java.lang.Object

frc.alotobots.library.subsystems.swervedrive.commands.DrivePrecisionAlign

public class DrivePrecisionAlign
extends Object

Handles precision alignment requests to a target pose using PathPlanner's holonomic drive controller.

Constructor Summary

Constructors

Constructor	Description
DrivePrecisionAlign(SwerveDriveSubsystem swerveDriveSubsystem)	Creates a new PrecisionAlignRequest handler with default tolerance.
DrivePrecisionAlign(SwerveDriveSubsystem swerveDriveSubsystem, Supplier<Pose2d> currentPoseSupplier)	Creates a new PrecisionAlignRequest handler with default tolerance.
DrivePrecisionAlign(SwerveDriveSubsystem swerveDriveSubsystem, Supplier<Pose2d> currentPoseSupplier, double positionTolerance)	Creates a new PrecisionAlignRequest handler.

Method Summary

Modifier and Type	Method	Description
void	applyRequest(Supplier<Pose2d> targetPose)	Applies the precision alignment request.
Command	getCommand(Pose2d targetPose)	Creates a command that executes the precision alignment to a fixed pose.
Command	getCommand(Supplier<Pose2d> targetPose)	Creates a command that executes the precision alignment.
boolean	isNearTarget()	Checks if the robot is near the current target pose within the position tolerance.
boolean	isNearTarget(Pose2d targetPose)	Checks if the robot is near the specified target pose within the position tolerance.
void	setup()	Called to initialize the request handler.

Methods inherited from class java.lang.Object

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

Constructor Details

DrivePrecisionAlign

public DrivePrecisionAlign(SwerveDriveSubsystem swerveDriveSubsystem,
 Supplier<Pose2d> currentPoseSupplier,
 double positionTolerance)

Creates a new PrecisionAlignRequest handler.

Parameters:

swerveDriveSubsystem - The drive subsystem

currentPoseSupplier - The source to use for pose

positionTolerance - The position tolerance for considering alignment complete (meters)

DrivePrecisionAlign

public DrivePrecisionAlign(SwerveDriveSubsystem swerveDriveSubsystem,
 Supplier<Pose2d> currentPoseSupplier)

Creates a new PrecisionAlignRequest handler with default tolerance.

Parameters:

swerveDriveSubsystem - The drive subsystem

currentPoseSupplier - Where to get the current pose from

DrivePrecisionAlign

public DrivePrecisionAlign(SwerveDriveSubsystem swerveDriveSubsystem)

Creates a new PrecisionAlignRequest handler with default tolerance.

Parameters:

swerveDriveSubsystem - The drive subsystem

Method Details

setup

public void setup()

Called to initialize the request handler.

applyRequest

public void applyRequest(Supplier<Pose2d> targetPose)

Applies the precision alignment request.

Parameters:

targetPose - Supplier for the target pose to align to

isNearTarget

public boolean isNearTarget()

Checks if the robot is near the current target pose within the position tolerance.

Returns:

True if the robot is within the position tolerance of the current target

isNearTarget

public boolean isNearTarget(Pose2d targetPose)

Checks if the robot is near the specified target pose within the position tolerance.

Parameters:

targetPose - The target pose to check against

Returns:

True if the robot is within the position tolerance of the target

getCommand

public Command getCommand(Supplier<Pose2d> targetPose)

Creates a command that executes the precision alignment.

Parameters:

targetPose - Supplier for the target pose to align to

Returns:

A command that will execute the precision alignment

getCommand

public Command getCommand(Pose2d targetPose)

Creates a command that executes the precision alignment to a fixed pose.

Parameters:

targetPose - The fixed target pose to align to

Returns:

A command that will execute the precision alignment