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

Class ElevatorRunAtClimbVelocity

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

frc.alotobots.reefscape.subsystems.elevator.commands.ElevatorRunAtClimbVelocity

All Implemented Interfaces:

Sendable

public class ElevatorRunAtClimbVelocity
extends Command

Command that runs the elevator at a specified velocity for climbing. This command takes a velocity input (normalized between -1.0 and 1.0) and applies it to the elevator, scaled by the maximum speed constant.

Nested Class Summary

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

Command.InterruptionBehavior

Constructor Summary

Constructors

Constructor	Description
ElevatorRunAtClimbVelocity(ElevatorSubsystem elevatorSubsystem, DoubleSupplier input)	Creates a new ClimbingElevatorRunAtVelocity command.

Method Summary

Modifier and Type	Method	Description
void	end(boolean interrupted)	Called once when the command ends or is interrupted.
void	execute()	Called repeatedly when this command is scheduled to run.
void	initialize()	Called when the command is initially scheduled.
boolean	isFinished()	Returns whether this 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

ElevatorRunAtClimbVelocity

public ElevatorRunAtClimbVelocity(ElevatorSubsystem elevatorSubsystem,
 DoubleSupplier input)

Creates a new ClimbingElevatorRunAtVelocity command.

Parameters:

elevatorSubsystem - The elevator subsystem this command will run on

input - A supplier that provides the normalized velocity input (-1.0 to 1.0)

Method Details

initialize

public void initialize()

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

Overrides:

initialize in class Command

execute

public void execute()

Called repeatedly when this command is scheduled to run. Calculates the target velocity by multiplying the input value by the maximum speed, then commands the elevator subsystem to run at that velocity.

Overrides:

execute in class Command

end

public void end(boolean interrupted)

Called once when the command ends or is interrupted. Stops the elevator to ensure it doesn't continue moving.

Overrides:

end in class Command

Parameters:

interrupted - Whether the command was interrupted (true) or completed normally (false)

isFinished

public boolean isFinished()

Returns whether this command has finished. This command never finishes on its own and will run until interrupted.

Overrides:

isFinished in class Command

Returns:

false always, as this is a default command that should not terminate