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

Class WristRunToAngle

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

frc.alotobots.reefscape.subsystems.wrist.commands.WristRunToAngle

All Implemented Interfaces:

Sendable

public class WristRunToAngle
extends Command

Command that moves the wrist to a specified target angle. Uses closed-loop control to accurately position the wrist. Can either end when reaching target or continuously hold position.

Nested Class Summary

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

Command.InterruptionBehavior

Constructor Summary

Constructors

Constructor	Description
WristRunToAngle(WristSubsystem wristSubsystem, Angle angle)	Creates a new WristRunToAngle command.

Method Summary

Modifier and Type	Method	Description
void	end(boolean interrupted)
void	execute()
void	initialize()
boolean	isFinished()

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

WristRunToAngle

public WristRunToAngle(WristSubsystem wristSubsystem,
 Angle angle)

Creates a new WristRunToAngle command.

Parameters:

wristSubsystem - The wrist subsystem to control

angle - The desired angle for the wrist to reach

Method Details

initialize

public void initialize()

Overrides:

initialize in class Command

execute

public void execute()

Overrides:

execute in class Command

end

public void end(boolean interrupted)

Overrides:

end in class Command

isFinished

public boolean isFinished()

Overrides:

isFinished in class Command