Package frc.alotobots.reefscape.commands.states.coral

Class StateCoralL4

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

edu.wpi.first.wpilibj2.command.SequentialCommandGroup

frc.alotobots.reefscape.commands.states.coral.StateCoralL4

All Implemented Interfaces:

Sendable

public class StateCoralL4
extends SequentialCommandGroup

Command sequence for placing game pieces on Level 4. The sequence: 1. Moves elevator and wrist to L4 position simultaneously 2. Waits for release button confirmation 3. Runs eject through 4. Returns to stowed position

Nested Class Summary

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

Command.InterruptionBehavior

Constructor Summary

Constructors

Constructor	Description
StateCoralL4(ElevatorSubsystem elevatorSubsystem, WristSubsystem wristSubsystem, CoralIntakeSubsystem coralIntakeSubsystem, BlingSubsystem blingSubsystem, Trigger coralIntakeReleaseTrigger)	Creates a new StateL4 command.

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

StateCoralL4

public StateCoralL4(ElevatorSubsystem elevatorSubsystem,
 WristSubsystem wristSubsystem,
 CoralIntakeSubsystem coralIntakeSubsystem,
 BlingSubsystem blingSubsystem,
 Trigger coralIntakeReleaseTrigger)

Creates a new StateL4 command.

Parameters:

elevatorSubsystem - The elevator subsystem

wristSubsystem - The wrist subsystem

coralIntakeSubsystem - The coral intake subsystem

blingSubsystem - The bling subsystem

coralIntakeReleaseTrigger - The release button trigger