Package frc.alotobots.reefscape.commands

Class AlignToReefBranch

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

frc.alotobots.reefscape.commands.AlignToReefBranch

All Implemented Interfaces:

Sendable

public class AlignToReefBranch
extends Command

Command that aligns the robot to the closest reef branch on the specified side.

Nested Class Summary

Nested classes/interfaces inherited from class edu.wpi.first.wpilibj2.command.Command

Command.InterruptionBehavior

Constructor Summary

Constructors

Constructor	Description
AlignToReefBranch(SwerveDriveSubsystem swerveDriveSubsystem, FieldConstants.BranchType branchType)	Creates a new AlignToReefBranch command.

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, 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

AlignToReefBranch

public AlignToReefBranch(SwerveDriveSubsystem swerveDriveSubsystem,
 FieldConstants.BranchType branchType)

Creates a new AlignToReefBranch command.

Parameters:

swerveDriveSubsystem - The swerve drive subsystem

branchType - The type of the reef branch to align to (LEFT, RIGHT, ANY)

Method Details

initialize

public void initialize()

Overrides:

initialize in class Command

execute

public void execute()

Overrides:

execute in class Command

isFinished

public boolean isFinished()

Overrides:

isFinished in class Command

end

public void end(boolean interrupted)

Overrides:

end in class Command