Package frc.alotobots.reefscape.commands.groups

Class ElevatorWristRun

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

edu.wpi.first.wpilibj2.command.SequentialCommandGroup

frc.alotobots.reefscape.commands.groups.ElevatorWristRun

All Implemented Interfaces:

Sendable

public class ElevatorWristRun
extends SequentialCommandGroup

Nested Class Summary

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

Command.InterruptionBehavior

Constructor Summary

Constructors

Constructor	Description
ElevatorWristRun(ElevatorSubsystem elevatorSubsystem, WristSubsystem wristSubsystem, Distance elevatorHeight, Angle wristAngle)	Creates a new ElevatorWristRun command group that moves both the elevator and wrist to specified positions one after the other.

Method Summary

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

addCommands, end, execute, getInterruptionBehavior, initialize, initSendable, isFinished, runsWhenDisabled

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

addRequirements, addRequirements, alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineFor, deadlineWith, finallyDo, finallyDo, getName, getRequirements, getSubsystem, handleInterrupt, hasRequirement, ignoringDisable, isScheduled, onlyIf, onlyWhile, raceWith, repeatedly, 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

ElevatorWristRun

public ElevatorWristRun(ElevatorSubsystem elevatorSubsystem,
 WristSubsystem wristSubsystem,
 Distance elevatorHeight,
 Angle wristAngle)

Creates a new ElevatorWristRun command group that moves both the elevator and wrist to specified positions one after the other. Runs the wrist first, then the elevator. Proxies the commands to cede back to default command after runtime automatically.

Parameters:

elevatorSubsystem - The elevator subsystem

elevatorHeight - Target height for the elevator

wristSubsystem - The wrist subsystem

wristAngle - Target angle for the wrist