Package frc.alotobots.reefscape.subsystems.wrist.commands

Class DefaultWristRunAtVelocity

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

frc.alotobots.reefscape.subsystems.wrist.commands.DefaultWristRunAtVelocity

All Implemented Interfaces:

Sendable

public class DefaultWristRunAtVelocity
extends Command

Default command that runs the wrist at a specified velocity. This command takes a velocity input (normalized between -1.0 and 1.0) and applies it to the wrist, 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
DefaultWristRunAtVelocity(WristSubsystem wristSubsystem, DoubleSupplier input)	Creates a new DefaultWristRunAtVelocity 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

DefaultWristRunAtVelocity

public DefaultWristRunAtVelocity(WristSubsystem wristSubsystem,
 DoubleSupplier input)

Creates a new DefaultWristRunAtVelocity command.

Parameters:

wristSubsystem - The wrist 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 wrist 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 wrist 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