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

Class WristHoldAngle

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

edu.wpi.first.wpilibj2.command.ScheduleCommand

frc.alotobots.reefscape.subsystems.wrist.commands.WristHoldAngle

All Implemented Interfaces:

Sendable

public class WristHoldAngle
extends ScheduleCommand

Command that holds the wrist at its current position. This command uses velocity control with target speed of 0 and applies it to the wrist. ScheduleCommand to ensure that other commands are able to interrupt it in a command group.

Nested Class Summary

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

Command.InterruptionBehavior

Constructor Summary

Constructors

Constructor	Description
WristHoldAngle(WristSubsystem wristSubsystem)	Creates a new WristHoldAngle 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.ScheduleCommand

runsWhenDisabled

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, 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

WristHoldAngle

public WristHoldAngle(WristSubsystem wristSubsystem)

Creates a new WristHoldAngle command.

Parameters:

wristSubsystem - The wrist subsystem this command will run on

Method Details

initialize

public void initialize()

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

Overrides:

initialize in class ScheduleCommand

execute

public void execute()

Called repeatedly when this command is scheduled to run.

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 ScheduleCommand

Returns:

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