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DefaultWristRunAtVelocity Command

Overview

The DefaultWristRunAtVelocity command is designed to run the wrist at a specified velocity based on continuous input. This command is typically used as the default command for the wrist subsystem, allowing operator control of wrist movement through a joystick or other input device.

Required Subsystems

Constructor and Parameters

public DefaultWristRunAtVelocity(WristSubsystem wristSubsystem, DoubleSupplier input)

The command requires the following parameters:

  • wristSubsystem: The wrist subsystem instance this command will control
  • input: A DoubleSupplier that provides normalized velocity input values. This supplier typically returns values in the range of -1.0 to 1.0:
    • Positive values move the wrist downwards
    • Negative values move the wrist upwards
    • Zero stops the wrist

The command scales this input by the maximum speed constant defined in the wrist constants.

Execution Behavior

  • When executed, the command continuously calculates the target velocity by multiplying the input value by the maximum speed
  • The command runs until interrupted and never finishes on its own
  • When the command ends (due to interruption), it stops the wrist to prevent unwanted movement

Configuration Requirements

No additional configuration is required. This command uses the MAX_SPEED constant from the Wrist Constants configuration to scale the input values appropriately.

JavaDoc Reference

For detailed API documentation, see the Wrist Commands JavaDoc.