ParallelElevatorWristRun Command

The ParallelElevatorWristRun command group coordinates the simultaneous movement of both the elevator and wrist mechanisms to achieve faster overall positioning of the robot's manipulator system.

Subsystem Requirements

This command group requires: - Elevator Subsystem - Wrist Subsystem

Constructor Parameters

public ParallelElevatorWristRun(
    ElevatorSubsystem elevatorSubsystem,
    WristSubsystem wristSubsystem,
    Distance elevatorHeight,
    Angle wristAngle)

• elevatorSubsystem: The elevator subsystem instance for vertical movement
• wristSubsystem: The wrist subsystem instance for angular movement
• elevatorHeight: Desired target height for the elevator using WPILib Distance units
• wristAngle: Desired target angle for the wrist using WPILib Angle units

Configuration Requirements

1. Both subsystems must be properly configured with:

   • PID control parameters
   • Motion constraints
   • Soft limits
   • Zero offset calibration

2. The command uses proxy commands, so default commands should be configured for both subsystems

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