SequentialWristElevatorRun Command

The SequentialWristElevatorRun command group coordinates the movement of both the wrist and elevator mechanisms in a specific order, moving the wrist to position first, followed by the elevator movement. This sequential operation can be useful for avoiding interference or when specific movement patterns are required.

Subsystem Requirements

This command group requires: - Wrist Subsystem - Elevator Subsystem

Constructor Parameters

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

• wristSubsystem: The wrist subsystem instance for angular movement
• elevatorSubsystem: The elevator subsystem instance for vertical 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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