Package frc.alotobots.reefscape.subsystems.elevator.commands

Class ElevatorOpenLoop

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

frc.alotobots.reefscape.subsystems.elevator.commands.ElevatorOpenLoop

All Implemented Interfaces:

Sendable

public class ElevatorOpenLoop
extends Command

Default command for manual control of the elevator using percent output. Allows direct operator control through a joystick or other input device.

Nested Class Summary

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

Command.InterruptionBehavior

Constructor Summary

Constructors

Constructor	Description
ElevatorOpenLoop(ElevatorSubsystem elevatorSubsystem, DoubleSupplier percent)	Creates a new ElevatorOpenLoop command for manual elevator control.

Method Summary

Modifier and Type	Method	Description
void	end(boolean interrupted)	Called when the command ends or is interrupted.
void	execute()	Executes the manual control loop.
void	initialize()	Called when the command is initially scheduled.
boolean	isFinished()	Determines if the command has finished.

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

ElevatorOpenLoop

public ElevatorOpenLoop(ElevatorSubsystem elevatorSubsystem,
 DoubleSupplier percent)

Creates a new ElevatorOpenLoop command for manual elevator control.

Parameters:

elevatorSubsystem - The elevator subsystem to control

percent - Supplier for the control input (-1.0 to 1.0), typically from a joystick

Method Details

initialize

public void initialize()

Called when the command is initially scheduled. No initialization is required for this command.

Overrides:

initialize in class Command

execute

public void execute()

Executes the manual control loop. Called every scheduler run while the command is scheduled.

Overrides:

execute in class Command

end

public void end(boolean interrupted)

Called when the command ends or is interrupted. Stops the elevator to prevent uncontrolled motion.

Overrides:

end in class Command

Parameters:

interrupted - true if the command was interrupted, false if it completed normally

isFinished

public boolean isFinished()

Determines if the command has finished. This command runs until interrupted, so it never finishes on its own.

Overrides:

isFinished in class Command

Returns:

false as this command runs continuously